太空环境下冗余机械臂设计及其控制策略  

Structure Design and Control Strategy of Robotic Arm with Redundant Degree of Freedom Under Space Microgravity Conditions

作　　者：王振伟[1] 凡芳[1] 刘双印[1] 

机构地区：[1]电子科技大学航空航天学院,成都611731

出　　处：《控制工程》2017年第3期524-528,共5页Control Engineering of China

基　　金：国家自然科学基金(No.51675087;No.51005040);中央高校基本科研业务费(ZYGX2014J095)

摘　　要：太空环境使得宇航员进行器件维修、科学实验、深空探测等活动变得非常困难,并可能由于长时间舱外作业而给带来生命危险。为提高宇航员在太空环境下的舱内外作业效率和安全性,尤其针对小型部件的维修和更换,设计了一种冗余机械臂。首先,详细论述该机械臂主要部件的设计思想,完成原理分析、位置空间分析、机构设计等内容;然后,讨论了冗余自由度的控制策略,分析了12种控制状态,完成了相关控制机构设计。该机械臂具有结构简单、运动灵活、操作方便等特点,能够快速、准确地完成小型零部件的抓取、定位、安装等操作,而且通过更换不同的工具,可以实现不同的空间操作任务。Space microgravity causes more difficulties for space activities, such as equipment maintenance, scientific experiments and deep-exploration of space. Generally, equipment maintenance takes for a long time, which brings more disadvantages to the astronaut. In order to increase the operation efficiency of astronauts, especially, the efficiency of replacement and maintenance of small components, a kind of robotic ann is brought out with redundant free degree in this paper. Firstly, the design scheme is explained in detail as well as the design principle. The mechanical structure design is conducted according to above discussions. Then, the space position is analyzed and constraint conditions are explained. Finally, the control strategy of this robotic arm is discussed and 12 control statuses are analyzed. Therefore, it can aid astronauts to hold and fix a small component. Analysis shows that this robotic arm processes more advantages, such as simplicity of the mechanical structure and flexibility of operations. Above all, the designed robotic arm is reasonable and flexible.

关 键 词：太空环境 机械臂 冗余 控制策略 

分 类 号：TH122[机械工程—机械设计及理论]