重力及其释放下空间机械臂驱动力差异及模型研究  

Driving force difference and model of space manipulator under gravity and its release

作　　者：秦利[1] 李倩 闫莉莉 刘福才[1] 王文魁[2] QIN Li;LI Qian;YAN Li-li;LIU Fu-cai;WANG Wen-kui(Key Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao 066004, China;Material Science and Engineering institute, Yanshan University, Qinhuangdao 066004, China)

机构地区：[1]燕山大学电气工程学院,河北秦皇岛066004 [2]燕山大学材料科学与工程学院,河北秦皇岛066004

出　　处：《电机与控制学报》2017年第12期66-74,84,共10页Electric Machines and Control

基　　金：863计划(2012AA);国家自然科学基金青年基金(51605415);河北省自然科学基金(F2015203362;F2016203494)

摘　　要：为降低空间机构系统能耗,减小驱动力地面设计裕度,提高空间机构控制精确度,以四自由度仿人机械臂为对象,研究不同重力环境下的驱动力差异及关键影响因素。首先基于Klein算子与虚功原理建立了考虑关节摩擦的四自由度仿人机械臂动力学模型。然后通过仿真研究不同重力环境下摩擦、关节角速度、末端负载对驱动力矩的影响,并对影响空间驱动力矩的关键因素进行分析。进而参照仿真研究搭建试验平台,在关节轴线不同取向条件下进行驱动力矩差异研究,试验验证了仿真分析的正确性。最后基于试验结果修正摩擦模型并采用PSO算法辨识模型参数,得到适用于不同重力环境下的关节摩擦模型,改进了机械臂的理论建模结果。In order to minimize energy consumption,reduce design margin of driving torque,and improve control accuracy for spatial mechanism,the4DOF humanoid manipulator is taken as the object to study the driving forces under different gravity environments and the key influencing factors.Firstly the dynamic model of4DOF humanoid manipulator was established based on Klein operator and principle of virtual work.Then the influence of friction,joint angular velocity and endloads on driving torque was studied by simulation,and the key factor affecting the spatial driving torque was analyzed.Then the test platform was built to study the driving torque difference under different orientations of the joint axis.Test results verified the correctness of the simulation analysis.Finally,the friction model was modified based on the test results and the PSO algorithm was used to identify the model parameters.The model of joint friction applicable for different gravity environments is obtained and the theoretical model is improved.

关 键 词：空间机械臂 重力影响 驱动力 摩擦模型 地面试验 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]