摘要
提出了一种新的方法用于测量中国舱内和舱外航天服的关节力学特性。测量原理基于机器人运动学、静力学和动力学。首先,建立了随动机器人的运动学模型,然后根据航天服特殊的机械结构同时建立了舱内和舱外航天服手臂通用的运动学模型;其次,针对包含有柔性关节的舱内和舱外航天服手臂给出了求解其运动学逆运算的方法;最后,根据航天服手臂末端的力矩、位置和姿态信息计算出航天服关节的阻尼力矩。实验结果和SGI工作站上的仿真证明了该测量方法的正确性和有效性。
A novel method to measure China＇s intravehieular mobility unit （IMU） and extravehicular mobility unit （EMU） spaeesuit joints＇ mechanical characteristics is presented in this article. The measuring principle is based on robot kinematics, statics, and dynamics. Firstly, a kinematic model of the passive robot is built, and the universal kinematic models of the IMU and EMU spaeesuit arms are also built according to the special mechanical structures. Secondly, the methods of solving the inverse kinematics of the IMU and EMU spacesuit arms including flexible joints are proposed. Finally, the damping torques of the spaeesuit joints are calculated using the end torque, position, and orientation information of the spaeesuit arms. The experimental results and simulation on SGI workstation prove the correctness and effectiveness of the presented measuring method.
出处
《航空学报》
EI
CAS
CSCD
北大核心
2008年第5期1370-1380,共11页
Acta Aeronautica et Astronautica Sinica
基金
长江学者和创新团队发展计划(IRT0423)
教育部“111”创新引智计划(B07018)
哈尔滨工业大学博士科研启动基金
哈尔滨工业大学优秀青年教师培养计划(HITQN-JS2007011)
关键词
航天服
随动机器人
运动学
力学特性
神经网络
spaeesuit
passive robot
kinematics
mechanical eharaeteristies
neural network
