自由漂浮空间机器人的运动学分析及仿真

Kinematics Analysis and Simulation of Free-Floating Space Robot

自由漂浮空间机器人与地面机器人最大的区别是其末端执行器的运动不仅仅和各个关节的运动有关 ,而且与各个连杆、基座的质量分布及其运动轨迹紧密相关 .因此 ,自由漂浮空间机器人的运动学与其动力学是密不可分的 .运用螺旋理论、动量守恒定律对这样的机器人系统进行分析 ,得到了包含系统质量在内的运动雅可比矩阵 ,并给出了系统运动的图形仿真结果 .

The movement of the end effector of free-floating space robot is related to not only the movement of each joint, but also the trajectory and the mass distribution of each link. This is the most distinct difference between free-floating space robot and terrestrial robot. Thus, the kinematics of free-floating space robot is closely connected with its dynamics. Screw theory and linear and angular momentum conservation were used to analyze free-floating space robot system. A general jacobian was derived, which includes the system mass. A movement simulation of free-floating space robot was given.