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空间机器人在执行捕获任务时目标与机械臂的碰撞给基座带来的姿态扰动是致命的。针对目标捕获时基座姿态扰动最小化问题,在建立了自由飘浮空间机器人捕获目标动力学模型的基础上,提出了自由飘浮状态下基座零扰动冲击方向的概念,给出了捕获过程中基座姿态无扰的条件是碰撞冲击力方向与基座零扰动冲击方向一致,并用角动量的分布与传递解释了零扰动冲击方向的物理含义在于机械臂将全部吸收碰撞所带来的附加角动量。最后以平面二连杆空间机器人为研究对象,利用Spacedyn工具箱进行仿真并验证所提出的零扰动规划方法可以有效降低基座姿态扰动。零扰动冲击方向的概念为空间机器人在执行目标捕获、交会对接等任务时选择合理的捕获点与合适的捕获构型提供了依据。
The disturbance of attitude that the space robot brings to the base by the collision of the target and the robot during the execution of the capturing task is fatal. Aiming at the problem of minimizing the pedestal attitude disturbance during target acquisition, the concept of zero-impinging impact direction of pedestal in free-floating state is proposed based on the establishment of a target dynamic model of free-floating space robot. The unobtrusive condition of seat attitude is that the collision impact direction coincides with the direction of base zero disturbance impact, and the distribution and transmission of angular momentum explain the physical implication of zero-disturbance impact direction that the arm will absorb all the additional angular momentum caused by collision . Finally, the planar two-link robot is taken as the research object. The Spacedyn toolbox is used to simulate and verify the proposed zero-disturbance programming method, which can effectively reduce the pedestal attitude disturbance. The concept of zero-disturbance impact direction provides the basis for the space robot to choose a reasonable acquisition point and a suitable capture configuration when performing tasks such as target acquisition, rendezvous and docking.