基于平面气浮实验数据获取机械臂在轨关节驱动力矩的理论建模与实验验证  

Obtaining Driving Torques of Space Manipulators Based on Ground Planar Experimental Data of the Manipulator with Air-bearing Support: Modeling and Experimental Verification

作　　者：张磊[1] 崔志武 陈韬 姚宏翔 赵振[2] ZHANG Lei;CUI Zhiwu;CHEN Tao;YAO Hongxiang;ZHAO Zhen(Beijing Key Laboratory of Intelligent Space Robotic System Technology and Application, Institute of Spacecraft, Beijing 100094;School of Aeronautic Science and Engineering, Beihang University, Beijing 100191;School of Aerospace Engineering, Tsinghua University, Beijing 100084)

机构地区：[1]空间智能机器人系统技术与应用北京市重点实验室,中国空间技术研究院总体部,北京100094 [2]北京航空航天大学航空科学与工程学院,北京100191 [3]清华大学航天航空学院,北京100084

出　　处：《北京大学学报（自然科学版）》2019年第4期597-602,共6页Acta Scientiarum Naturalium Universitatis Pekinensis

基　　金：中国空间技术研究院总体部与北京航空航天大学航空学院合作项目;国家自然科学基金(11572017)资助

摘　　要：为了正确地掌握空间机械臂在轨服务过程的真实动力学特性,基于Lagrange方程,获得机械臂有/无气浮装置时关节驱动力矩的差值函数,然后利用带气浮装置的关节驱动力矩的地面实验数据减去理论差值,预测机械臂在轨服务时的真实驱动力矩。最后采用刚性较好的小型机械臂进行实验,验证了该方法的正确性。In order to extract the true dynamics of a manipulator in space from the experimental data on ground,gap functions of the joints’ driving torques are deduced by Lagrangian equations between two manipulators with and without air-bearing support. The real driving torques can be predicted by the ground data minus the gap function. Verifying experiments are designed and carried out by a small manipulator with rigid arms.

关 键 词：空间机械臂 动力学建模 驱动力矩 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]