柔性抓取机械臂-太阳翼耦合动力学与控制研究  

Study on Coupling Dynamics and Control of Flexible Capturing Robot and Solar Panel

作　　者：田强[1] 刘铖[1] 刘丽坤[2] 李新刚[2] 

机构地区：[1]北京理工大学宇航学院力学系飞行器动力学与控制教育部重点实验室,北京100081 [2]中国空间技术研究院通信卫星事业部,北京100094

出　　处：《系统仿真学报》2013年第7期1609-1616,共8页Journal of System Simulation

基　　金：国家自然科学基金(11002022);总装基金(9140A20020610HT0506)

摘　　要：结合绝对节点坐标方法与自然坐标方法的绝对坐标方法不仅能精确表达刚柔耦合多体系统的动力学特性而且能得到常数系统质量矩阵,便于高效计算。采用该方法研究了星载柔性机械臂在抓取漂浮目标过程中机械臂-星体-太阳翼的刚柔耦合动力学与控制问题。提出了一种间隙圆柱运动副的四点碰撞检测模型,引入一种能考虑碰撞能量耗散的连续接触模型实现了抓取过程的接触、碰撞模拟。提出了一种联合控制策略确保了抓取过程中星体姿态的稳定。该研究为实际工程应用提供一种新的星载柔性抓取机械臂-太阳翼耦合动力学与控制分析的建模与数值仿真方法。The Absolute Nodal Based （ACB） method that combines the Absolute Nodal Coordinate Formulation （ANCF） and Natural Coordinate Formulation （NCF） not only can describe the dynamic characteristics of rigid-flexible multibody system accurately but also lead to constant system mass matrix, which will help to improve computation efficiency. The coupling dynamics and control of a satellite flexible capturing robot and solar panel system were studied by using the ACB method in the robot process of grasping a floating object. A four-point contact detection model for the cylindrical clearance joint was proposed and a continuous contact force model was used, in which the energy dissipation could be considered. A combined control scheme was also proposed to assure the stability of the satellite attitude. The studies have provided a new modeling and numerical simulation method for the coupling dynamics and control analysis of the practical flexible satellite-capturing robot-solar panel systems.

关 键 词：绝对坐标方法 柔性机械臂 抓取 太阳翼 仿真 

分 类 号：O345[理学—固体力学]