推力矢量控制机械臂运动规划及仿真  

Motion Planning and Simulation for Series Manipulator Based on Thrust Vector Control

作　　者：许路路 郭卫东[1] 杜志贵[2] 邹庆晓 XU Lu-lu;GUO Wei-dong;DU Zhi-gui;ZOU Qing-xiao(Institute of Robotics,Beihang University,Beijing 100191,China;Academy of Opto-electronics,Chinese Academy of Sciences,Beijing 100094,China)

机构地区：[1]北京航空航天大学机器人研究所,北京100191 [2]中国科学院光电研究院,北京100094

出　　处：《机械设计与制造》2018年第10期261-264,共4页Machinery Design & Manufacture

基　　金：中国科学院科研装备研制项目资助(YZ201310)

摘　　要：提出了一种将推力器置于多自由度机械臂末端,并对末端推力进行矢量控制的四自由度串联机械臂。首先,对推力矢量控制的理论意义及研究现状进行了简要介绍,并提出了研究方向;其次,对该串联机械臂的结构和连杆参数进行了分析,采用D-H参数法建立了该机械臂的运动学模型,并采用代数法求解出正向和逆向运动学方程;最后,利用MATLAB中的robotics工具箱仿真分析了该机械臂的工作范围,并通过算例验证了所求解的运动学方程的正确性。结果表明,该结构类型的机械臂可作为推力器,并通过推力矢量控制方法调整空间飞行器的位姿。This paper put forwarda manipulator with four degrees of freedom,at the end of this manipulator a thruster is installed,and the control method of this manipulator is thrust vector control.Firstly,the theoretical definition and current research status of thrust vector control are briefly introduced,then the research direction of this paper is put forward;Secondly,the structure and link parameters of this manipulator are analyzed,Denavit-Hartenberg notation is applied in establishing kinematical equation,and algebraic method is used for solving the forward and reverse kinematics.Finally,the kinematic model of the manipulator is established by using the robotics toolbox of MATLAB,simulation analysis is conducted for this manipulator’s workspace,the correctness of the established kinematic equations are verified by the results of an example.The results show that this structure type of manipulator can be used as a thruster and the thrust vector control can be used as control method,to adjust the position and attitude of the space vehicle.

关 键 词：机械臂 推力矢量控制 运动学 MATLAB仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]