基于CoppeliaSim的空间环境腔体式气动软体臂仿真

Simulation of Cavity-Type Pneumatic Soft Arm in Space Environment Based on CoppeliaSim

研究了一种用于腔体式气动软体臂在空间环境抓抱动作的运动学和动力学仿真技术。利用CoppeliaSim和Python通过API接口的方式联合仿真。在CoppeliaSim中将软体臂等效成多个铰接的刚体支段,建立软体臂与被抓抱物运动学和动力学模型。在Python中建立软体臂气动系统、容腔特性、关节运动、软体臂力学特性和控制系统的模型。仿真模拟了在空间环境下,软体臂抓抱目标物的实时工作状态和与动力学交互过程。结果表明,仿真曲线与实验基本一致,验证了仿真的正确性,为软体臂的设计和仿真研究提供了新的思路。

A kind of kinematics and dynamics simulation technology for cavity-type pneumatic soft arm grasping in the space environment is studied. Coppeliasim and python are used to jointly simulate through API interface. In CoppeliaSim, the software arm is equivalent to several articulated rigid body supports, and the kinematics and dynamics models of the software arm and the object are established.The models of the software arm’s aerodynamic system, cavity characteristics, joint motion, mechanical characteristics and control system are established in the Python.The real-time working state and dynamic interaction process of the soft arm grasping the target in space environment are simulated.The results show that the simulation curve is basically consistent with the experiment, which verifies the correctness of the simulation and provides a new idea for the design and simulation of the software arm.