摘要
空间机械臂在地面零重力系统进行模拟实验前,需先用装有传感器的模拟机械臂对模拟系统的卸载性能进行评定,以保证系统工作时的可靠性。该文首先建立了一个七关节机械臂在地面零重力系统中的动力学模型,计算了各关节扭矩,并以扭矩作为模拟系统卸载性能的评价指标。接着采用连续性摩擦模型对系统进行摩擦力参数辨识,通过实验结果反推出系统的摩擦力特性,并对关节扭矩进行修正。修正后的计算扭矩更接近实验值,保证了理论建模的准确性。该模型可以预测出未安装传感器的空间机械臂在模拟系统中运行时的力学参数,保证实验的安全。
Space manipulators need to pass tests in zero-g simulation systems before being used in orbit.The unloading ratio of zero-g simulation systems was evaluated here using a simulation manipulator with force and torque sensors.A dynamic model of a seven-joint manipulator was then developed for operation in a zero-g environment.The joint torques were calculated and used as the evaluation index.A continuous friction model was used to identify the friction parameters for the system with the friction characteristics then modified so that the predicted torques matched the experimental data.The results show that the theoretical model can accurately predict the torques and the space manipulator model parameters without sensors when operating in a zero-g environment to guarantee the safety of the experiments.
作者
田斯慧
唐晓强
代海林
李煜琦
TIAN Sihui;TANG Xiaoqiang;DAI Hailin;LI Yuqi(Department of Mechanical Engineering,Tsinghua University,Beijing100084,China;Beijing Key Lab of Precision/Ultra-Precision ManufacturingEquipments and Control,State Key Laboratory of Tribology,Tsinghua University,Beijing100084,China;Beijing Institute of Spacecraft Environment Engineering,Beijing100094,China)
出处
《清华大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2019年第10期831-837,共7页
Journal of Tsinghua University(Science and Technology)
基金
国家自然科学基金资助项目(91648107)
北京市自然科学基金资助项目(L182041)
