The use of space robots(SRs)for on-orbit services(OOSs)has been a hot research topic in recent years.However,the space unstructured environment(i.e.:confined spaces,multiple obstacles,and strong radiation interference...The use of space robots(SRs)for on-orbit services(OOSs)has been a hot research topic in recent years.However,the space unstructured environment(i.e.:confined spaces,multiple obstacles,and strong radiation interference)has greatly restricted the application of SRs.The coupled active-passive multilink cable-driven space robot(CAP-MCDSR)has the characteristics of slim body,flexible movement,and electromechanical separation,which is very suitable for extreme space environments.However,the dynamic and stiffness modeling of CAP-MCDSRs is challenging,due to the complex coupling among the active cables,passive cables,joints,and the end-effector.To deal with these problems,this paper proposes a workspace,stiffness analysis and design optimization method for such type of MCDSRs.Firstly,the multi-coupling kinematics relationships among the joint,cables and the end-effector are established.Based on hybrid series-parallel characteristics,the improved coupled active–passive(CAP)dynamic equation is derived.Then,the maximum workspace,the maximum stiffness,and the minimum cable tension are resolved,among them,the overall stiffness is the superposition of the stiffness produced by the active and the passive cable.Furthermore,the workspace,the stiffness,and the cable tension are analyzed by using the nonlinear optimization method(NOPM).Finally,an 8-DOF CAP-MCDSR experiment system is built to verify the proposed modeling and trajectory tracking methods.The proposed modeling and analysis results are very useful for practical space applications,such as designing a new CAP-MCDSR,or utilizing an existing CAP-MCDSR system.展开更多
To establish a universal and easily controlled gait for practical use of snakelike robot movement, an inchworm locomotion gait model based on a serpenoid curve is presented. By analyzing the relations of two adjacent ...To establish a universal and easily controlled gait for practical use of snakelike robot movement, an inchworm locomotion gait model based on a serpenoid curve is presented. By analyzing the relations of two adjacent waves in the process of locomotion and doing an approximation of the serpenoid curve, the motion function of relative angles between two adjacent links and the absolute angles between each link and the baseline on the traveling curve are built. Two efficiency criterions of the gait are given as the energy loss function f and the unit displacement in one cycle dunit.Three parameters of the criterions affecting the efficiency of the gait （ the number of links that form the traveling wave n, the included angle between two adjacent links α, and the phase difference of adjacent included angles β） are discussed by simulations and experiments. The results show that f is insensitive to n; raising n increases dunit significantly; the maximum wave amplitude of α is a decreasing function of n; and increasing α reduces the displacement influence off when n is determined. The gait model is suitable for different inchworm locomotions of a snakelike robot whose traveling waves are formed by different numbers of identical links. A wave formed by more links or a greater relative angle between two adjacent links both lead to greater velocity of the movement.展开更多
基金supported by the National Natural Science Foundation of China(No.62103454)the Key-Area Research and Development Program of Guangdong Province(No.2020B1111010001)+3 种基金the Guangdong Basic and Applied Basic Research Foundation(No.2019A1515110680)the Shenzhen Municipal Basic Research Project for Natural Science Foundation(No.JCYJ20190806143408992)the Fundamental Research Funds for the Central Universities(No.2021qntd08)Sun Yat-sen University。
文摘The use of space robots(SRs)for on-orbit services(OOSs)has been a hot research topic in recent years.However,the space unstructured environment(i.e.:confined spaces,multiple obstacles,and strong radiation interference)has greatly restricted the application of SRs.The coupled active-passive multilink cable-driven space robot(CAP-MCDSR)has the characteristics of slim body,flexible movement,and electromechanical separation,which is very suitable for extreme space environments.However,the dynamic and stiffness modeling of CAP-MCDSRs is challenging,due to the complex coupling among the active cables,passive cables,joints,and the end-effector.To deal with these problems,this paper proposes a workspace,stiffness analysis and design optimization method for such type of MCDSRs.Firstly,the multi-coupling kinematics relationships among the joint,cables and the end-effector are established.Based on hybrid series-parallel characteristics,the improved coupled active–passive(CAP)dynamic equation is derived.Then,the maximum workspace,the maximum stiffness,and the minimum cable tension are resolved,among them,the overall stiffness is the superposition of the stiffness produced by the active and the passive cable.Furthermore,the workspace,the stiffness,and the cable tension are analyzed by using the nonlinear optimization method(NOPM).Finally,an 8-DOF CAP-MCDSR experiment system is built to verify the proposed modeling and trajectory tracking methods.The proposed modeling and analysis results are very useful for practical space applications,such as designing a new CAP-MCDSR,or utilizing an existing CAP-MCDSR system.
文摘To establish a universal and easily controlled gait for practical use of snakelike robot movement, an inchworm locomotion gait model based on a serpenoid curve is presented. By analyzing the relations of two adjacent waves in the process of locomotion and doing an approximation of the serpenoid curve, the motion function of relative angles between two adjacent links and the absolute angles between each link and the baseline on the traveling curve are built. Two efficiency criterions of the gait are given as the energy loss function f and the unit displacement in one cycle dunit.Three parameters of the criterions affecting the efficiency of the gait （ the number of links that form the traveling wave n, the included angle between two adjacent links α, and the phase difference of adjacent included angles β） are discussed by simulations and experiments. The results show that f is insensitive to n; raising n increases dunit significantly; the maximum wave amplitude of α is a decreasing function of n; and increasing α reduces the displacement influence off when n is determined. The gait model is suitable for different inchworm locomotions of a snakelike robot whose traveling waves are formed by different numbers of identical links. A wave formed by more links or a greater relative angle between two adjacent links both lead to greater velocity of the movement.
