面向UAV的绳驱动空中机械臂动力学建模分析

Dynamic Modelling Analysis for a Cable-driven Aerial Manipulator Based on UAV

为解决空中机器人与外界环境交互作业问题,设计了一种面向UAV的绳驱动空中机械臂系统,并研究了其系统建模方法。首先,设计了绳驱动空中机械臂的虚拟样机,详细地介绍了其机械结构、工作原理以及绳索解耦方式;其次,综合牛顿-欧拉法、拉格朗日法、旋量理论、空间算子代数理论4种方法推导出了整个系统的正反向运动学模型和正反向动力学模型;最后,通过仿真算例对绳驱动空中机械臂的性能进行了模拟评估。结果表明,所建立的绳驱动空中机械臂系统模型是合理有效的,能较为准确地反映系统的动态特性,所提出的综合建模方法对其它多刚体系统的建模具有一定的参考价值。

To solve the issue about interactive operation between the aerial robot and the external environment, this paper has designed a cable-driven manipulator based on an unmanned aerial vehicle(UAV) and proposed system modelling approaches of it.Firstly, we designed the virtual prototype of the cable-driven aerial manipulator which contains mechanical structure, operating principle and decoupling method of the cables.Then, the kinematics and dynamics of the system have been obtained by synthesizing Newton-Euler method, Lagrangian method, screw theory and spatial operator algebra theory.Lastly, the performances of the cable-driven aerial manipulator have been tested through series of simulation cases.All the results show that the proposed system model is reasonable and validity, which can reflect the dynamic behavior of the cable-driven aerial manipulator, and the synthesized modelling method has a referenced value for the modelling of other rigid multibody systems.