面向天线在轨故障处置的RRR指向机构轨迹规划  

Trajectory Planning of RRR Pointing Manipulator for In-orbit Antenna Failure Recovery

作　　者：朱佳龙[1,2] 黄志荣 郑士昆[1] 马小飞[1] 段玉柱[1] ZHU Jialong;HUANG Zhirong;ZHENG Shikun;MA Xiaofei;DUAN Yuzhu(China Academy of Space Technology(Xi’an),Xi’an 710000,China;School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]中国空间技术研究院西安分院,西安710000 [2]哈尔滨工业大学机电工程学院,哈尔滨150001

出　　处：《空间电子技术》2020年第6期37-43,共7页Space Electronic Technology

基　　金：国家自然科学基金(编号:U1537213)。

摘　　要：为解决某星载大型可展开天线在轨故障,本文提出采用投影位移规划法,实现RRR天线转动指向机构的位移轨迹规划。首先,基于串联机构D-H法建立RRR指向机构数学模型,并完成机构自由度、末端构件运动空间和力学特性分析;然后,建立机构反解,针对轨迹要求为二维连续位移轨迹的特点,提出采用投影位移轨迹规划法实现RRR三自由度转动机构的位移轨迹规划;最后根据规划算法,结合任务各阶段目标要求,获得了以驱动力条件优化初始位置,保证各阶段运动连续的整体运动轨迹规划结果。通过地面在轨故障模拟处置试验,完成了轨迹规划方法的正确性验证,并最终成功指导在轨故障处置测试的实施。本文研究为大型展开天线在轨机械故障处置提供了重要借鉴,也为转动机构实现位移轨迹规划的研究提供了理论方法创新。In order to recovering the failure of the satellite deployable antenna at orbit,the projection displacement planning method is proposed to realize the displacement trajectory planning of RRR antenna rotating pointing mechanism.Firstly,a mathematical model of RRR pointing mechanism is established based on the D-H method of series mechanism,and the analysis of the degree of freedom(DOF),motion space and mechanical characteristics of mechanism is completed.Then,the inverse solution of the mechanism is established,and the projected displacement trajectory planning method is proposed to realize the displacement trajectory planning of RRR 3-DOF rotating mechanism.According to the planning algorithm and the target requirements of all task stages,the overall trajectory planning results are obtained,which optimize the initial position with driving force conditions and continuity requirement.Through the ground simulation test,the trajectory planning method is verified,and the in-orbit failure recovery test is finally successfully guided.The research provides an important reference for managing in-orbit mechanical faults of large deployed antennas,and provides a theoretical method innovation for displacement trajectory planning of rotating mechanism.

关 键 词：大型展开天线 指向机构 轨迹规划 力雅克比 

分 类 号：V447[航空宇航科学与技术—飞行器设计] TP242[自动化与计算机技术—检测技术与自动化装置]