面向太空垃圾捕获的自生长柔性变刚度机械臂设计与控制策略研究

Design and control strategy of a self-growing flexible variable stiffness robotic arm for space debris capture

随着人类探索宇宙步伐的不断加速,太空轨道垃圾已成为一个重大的安全隐患.现有的刚性机械臂、飞网等捕获方式对不同距离、不同尺寸轨道垃圾的适应性有限,缺少一种能够应对各类轨道垃圾的捕获装置和捕获策略.针对这一问题,本文利用曲壳梁可变刚度的特性,设计了一种新型的空间自生长柔性变刚度机械臂,实现了机械臂工作距离的大范围可调性;在此基础上,本文对这种新型的机械臂进行了动力学分析,提出了针对机械臂臂长分配的等矩原则,并建立了相应的算法;进一步的,本文面向跨尺寸的太空垃圾捕获,分别提出了抓取策略和缠绕策略,并采用取样避障和样条曲线方法,对机械臂进行了轨迹规划;最后,本文对所提出的针对自生长柔性变刚度机械臂的控制方法进行了仿真,验证了其可行性.

Space technology is a valuable contribution to the development of human science and technology and is the basis for human exploration of the vast universe.To guarantee the safe operation of space personnel and equipment,a space debris capture technology,a space hazardous matter removal or transfer technology,has been proposed under increasingly frequent human space activities.Fast-developing space debris capture equipment has provided the basis for realizing this technology.Existing capture methods,such as rigid robotic arms,nets,and balloons,limit the adaptability to space debris of different distances and sizes.Additionally,there is a lack of a capture device and strategy that can cope with various types of space debris.To address these problems,in this paper,a new type of spatially self-growing flexible variable stiffness robotic arm is designed and promoted using the variable stiffness characteristic of curved-shell beams,which realizes a wide range of adjustability of the working space of the robotic arm.On this basis,the kinetic analysis of this new type of robotic arm is performed,which leads to the principle of equal moments for the distribution of the robotic arm lengths and further the corresponding algorithms.We also proposed a series of strategies oriented toward the capture of space debris of various sizes and adopted the methods of sampling obstacle avoidance and spline curves for trajectory planning of the robotic arm.Finally,we simulated the proposed control method for a self-growing flexible variable stiffness robotic arm and verified its feasibility.