空间机器人动力学建模与模型验证

空间控制技术与应用 ›› 2009, Vol. 35 ›› Issue (6): 6-12.

空间机器人动力学建模与模型验证

1.北京控制工程研究所, 北京 100190; 2.空间智能控制技术国家级重点实验室, 北京 100190

出版日期:2009-12-25 发布日期:2021-12-11
基金资助:
国家自然科学基金 ( 10872028)资助项目

Dynamics Modeling and Simulation Verification for Space Robot

1.Beijing Institute of Control Engineering, Beijing100190, China; 2.National Key Laboratory of Science and Technology on Space Intelligent Control, Beijing100190, China

Online:2009-12-25 Published:2021-12-11

摘要/Abstract

摘要： 建立带任意节机械臂的空间机器人动力学模型, 并验证了模型的正确性.采用Kane方程建立了各体间转铰具有三自由度的空间多体系统的动力学模型, 利用投影算子将所建立的模型退化为各节机械臂间具有单自由度转铰连接的空间机器人动力学模型, 依据动力学三大基本定理, 即动量定理、动量矩定理、动能定理设计了模型验证方案, 通过数学仿真验证了所建立模型的正确性.

关键词: line-height:19.9733px, font-family:宋体, 空间机器人')">">空间机器人, 动力学建模, Kane方程')">">

Abstract: The dynamics model of a free-flying space robot with arbitrary joints connected manipulator is established, and verified by numerical simulation. Firstly, the model of a space multi-body system with three degrees of freedom in adjacent bodies is established using Kane equation. Then, projective operators are used to transform general equations into the dynamics model of a space robot with one degree of freedom between the bodies of its manipulator. Three fundamental dynamical theorems, i.e. momentum theorem, momentum moment theorem, kinetic energy theorem are used to design the algorithm to verify the dynamics model. Finally, numerical simulation verifies the dynamics model of the space robot.

Key words: space robot')">space robot, dynamics modeling, Kane equation

中图分类号:

TP24

张　军, 胡海霞, . 空间机器人动力学建模与模型验证[J]. 空间控制技术与应用, 2009, 35(6): 6-12.

ZHANG Jun, , HU Haixia, . Dynamics Modeling and Simulation Verification for Space Robot[J]. Aerospace Contrd and Application, 2009, 35(6): 6-12.