空间机械臂全局反作用优化及其地面试验研究

针对空间机械臂在运动过程中对其基座产生力/力矩反作用这一问题进行了分析,并提出一种关节轨迹参数化的全局反作用优化方法,用于减小机械臂的反作用力/力矩.基于气浮轴承方法,建立了3自由度空间机械臂反作用优化地面实验系统.最后,采用3自由度机械臂验证了该方法的有效性.

柔性基座冗余机械臂的最优反作用控制

针对柔性基座冗余机械臂的末端轨迹跟踪问题,提出一种反作用最优控制方法,该算法将轨迹跟踪视为高优先级任务,而反作用优化控制在高优先级任务零空间内进行。由于冗余机械臂的自运动能在不影响末端运动的前提下改变关节运动,利用冗余机械臂的自运动消除振动系统中的低阶模态力,使机械臂在完成轨迹跟踪的同时激起的弹性振动大幅减小,从而提高了系统的稳定性。以平面3自由度柔性基座机械臂和空间7自由度柔性基座机械臂为例进行数值仿真,证实了方法的有效性。

空间机器人目标捕获过程中的载体姿态扰动优化

针对自由飘浮空间机器人在捕获目标的过程中会对其载体姿态产生扰动的问题,提出了一种新的笛卡儿轨迹参数化方法.建立了反映载体姿态变化的目标函数该函数既可以限制机器人关节角的运动范围,也可以避免动力学奇异的影响.利用遗传算法进行目标函数的优化,有效降低了空间机器人末端执行器在跟踪笛卡儿轨迹时对载体姿态的影响.仿真结果验证了算法的有效性.

Topology optimization of supporting structure for seismic response reduction of an arch

A flexible supporting structure that reduces seismic response of an arch is proposed. Topology and cross-sectional areas of the supporting structure modeled as a truss structure are optimized through two steps of static and dynamic optimization problems. In the first step, a flexible supporting structure that has diagonal displacement at the top under horizontal load is obtained by solving static optimization problems. Then, in the second step, the cross-sectional area of the flexible member is optimized to minimize the seismic response acceleration of the arch evaluated by the complete quadratic combination(CQC) method. Time-history seismic response analysis is carried out to show that the response in the normal direction of the roof successfully decreases due to flexibility of the supporting structure; in addition, installing passive energy dissipation devices into the flexible supporting structure is very effective in reducing the tangential response of the arch.