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机械臂空间机器人在未来的空间在轨操控服务中具有广阔的应用前景,但对其动力学对象进行建模与仿真是一个难题。本文重点研究机械臂空间机器人动力学对象数字仿真问题,使用SimMechanics工具箱搭建空间机器人动力学的模块化仿真模型,在此基础上进行数值仿真分析以及运动过程的三维可视化显示。本文所采用的空间机器人动力学建模方法易于使用,能够较好地解决复杂多体系统的动力学建模问题,所搭建的模型可靠性好且能开展可视化仿真,该建模仿真技术具有较强的应用价值。
Robotic arm space robots have broad application prospects in orbit control services in the future, but modeling and simulating their dynamic objects is a difficult problem. This dissertation focuses on the numerical simulation of the robot dynamics object in the robot manipulator, and uses the SimMechanics toolbox to build a modular simulation model of space robot dynamics. Based on this, numerical simulation analysis and three-dimensional visualization of the motion process are presented. The space robot dynamic modeling method used in this paper is easy to use and can solve the problem of dynamic modeling of complex multi-body systems. The model is reliable and can carry out visual simulation. Strong application value.