空间机械臂捕捉空间目标分析  

The Research of Free-Floating Space Manipulator Capture Object

作　　者：丛佩超[1] 孙兆伟[1] 

机构地区：[1]哈尔滨工业大学卫星技术研究所,黑龙江哈尔滨150001

出　　处：《上海航天》2009年第4期7-11,16,共6页Aerospace Shanghai

基　　金：国家高技术"863"小型飞行机器人系统(2005AA742014)

摘　　要：基于建立的空间机械臂系统的运动学与动力学模型,以及动量守恒关系,对空间机械臂抓取空间目标进行了分析。讨论了两关节机械臂4种碰撞力方向及其对应的机械臂系统耦合角动量、关节转角的变化,提出了直臂抓取方案。仿真结果表明:通过控制碰撞力方向可有效减少碰撞力对系统耦合角动量、关节转角的影响,进而避免混合体控制的关节与力矩限制。The space manipulator capture was analyzed based on the kinematic and dynamic models of space manipulator and the momentum equation in this paper. The four directions of impact force and the corresponding changes of coupling momentum and the joint angle were discussed. The concept of straight-arm capture was put forward. The simulation results showed that the effect of impact force on coupling angular momentum and joint angles could be reduced by controling the direction of impact force, then the joint and torque limitation of compound control would be avoided.

关 键 词：空间机械臂 抓取目标 碰撞力 直臂抓取 耦合角动量 关节转角 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]