空间机械臂绳索式末端执行器柔顺抓捕策略研究  

Study on Flexible Capture Strategy of Rope End Effector in Space Manipulator

作　　者：潘冬[1] 李娜 张晓东[1] 梁常春[1] 

机构地区：[1]北京空间飞行器总体设计部空间智能机器人系统技术与应用北京市重点实验室,北京100094 [2]北京卫星制造厂,北京100194

出　　处：《载人航天》2016年第5期564-569,共6页Manned Spaceflight

基　　金：国家自然科学基金(61573058)

摘　　要：针对机械臂抓捕非合作目标过程碰撞冲击大易造成基体偏转或目标逃逸的问题,提出并实现了快速接近-慢速接触-速度跟踪(FA-SC-VT)的末端捕获策略,并基于建立的系统全数字仿真模型对捕获策略进行了仿真验证,结果表明FA-SC-VT捕获策略与匀速捕获策略相比,可大幅减小机械臂捕获目标过程末端产生的冲击力,并可有效解决目标捕获过程中的逃逸问题。Successful target capturing is the key to the on-orbit servicing such as the large structure assembly,satellite maintenance and refueling. The excessive impact force when capturing the non-cooperative target by the manipulator may result in the attitude deviation of the base and even lead to the target escape. Accordingly,the fast approach-slow contact-velocity tracking （ FA- SC-VT） end capture strategy was proposed and realized for the target capturing. Based on the capture dynamic model,the simulation analysis was carried out. The results showed that compared with the traditional uniform capture strategy,the FA- SC-VT capture strategy reduced the impact force generated at the end of manipulator significantly and solved the escape problem efficiently for light weight target.

关 键 词：末端执行器 非合作目标 捕获策略 柔顺捕获 

分 类 号：V423.7[航空宇航科学与技术—飞行器设计]