面向非合作目标的柔性捕获器设计与动力学建模  

Design and Dynamic Modeling of a Flexible Catcher for Noncooperative Targets

作　　者：康荣杰[1,2] 周永翔 杨铖浩 Kang Rongjie;Zhou Yongxiang;Yang Chenghao(Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,Tianjin University,Tianjin 300350,China;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China)

机构地区：[1]天津大学机构理论与装备设计教育部重点实验室,天津300350 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016

出　　处：《天津大学学报（自然科学与工程技术版）》2022年第2期174-183,共10页Journal of Tianjin University：Science and Technology

基　　金：国家自然科学基金资助项目(51875393);国家重点研发计划资助项目(2018YFB1304600);机器人学国家重点实验室开放课题资助项目(2019-O04);天津市自然科学基金资助项目(17JCYBJC19100).

摘　　要：为更好地实现对动态非合作目标的捕获,设计开发了一种多臂式柔性捕获器.这种捕获器的原理类似海葵等生物捕猎的方式,不依赖单个柔性臂的精准夹持而是靠多根臂所构成的臂群实现聚拢、挤压等动作,以完成对目标物体的捕获.基于能量守恒和动量守恒原理对非合作目标物体与柔性臂的碰撞问题进行分析,给出了发生碰撞后柔性臂与目标物体各自的运动参数.为进一步分析柔性臂的动态变形过程,采用多个线性关节和扭转关节的组合对单根柔性臂进行描述,并基于牛顿法对各离散关节进行受力分析,建立了柔性臂的动力学模型.将柔性臂整个变形过程离散为多个微小时间段运动的集合,通过动力学分析得到当前时刻的动力学参量,经过一个微小时间内的运动后即可得到下一时刻各质点的位置,迭代进行上述步骤便得到了柔性臂的动态变形过程.而后,通过实验确定单臂动力学模型的最优参数,并将参数优化后的动力学模型在不同加载情况下与单臂样机进行对比,验证了动力学模型的准确性.最后,在单臂动力学模型的基础上建立包括多根柔性臂的捕获器三维模型,进行非合作目标捕获的仿真与样机实验.结果表明:所设计的臂群式柔性捕获器能够很好地完成动态非合作目标捕获任务,所建立的捕获器三维仿真模型可以基本反映动态捕获过程.To capture dynamic noncooperative targets,this paper developed a multiarm flexible catcher.The struc-ture of this catcher is similar to that of biological organisms,such as the tentacles of a sea anemone.Instead of using the precise grasping of a single flexible arm,the target object is captured using multiple arms via wrapping and squeezing motions.The collision between the noncooperative object and flexible arm was analyzed based on the prin-ciples of energy and momentum conservation,and the motion parameters of the flexible arm and the target were cal-culated.A combination of multiple linear and torsional joints was used to mimic the dynamic deformation of the flexible arm,and a dynamic model of the single flexible arm was established based on Newton’s method.The whole deformation process of the flexible arm can be discretized into a collection of multiple movements in several short time periods,and the dynamic parameters at the current moment are obtained through dynamic analysis.The position of each particle at the next moment can be obtained after a short time of motion,and an iteration performs the above steps to obtain the dynamic deformation process of the flexible arm.Parameters of the dynamic model were then determined by conducting experiments on a prototype.The accuracy of the singlearm model was verified by comparing the experimental results under different loading conditions.Finally,a three-dimensional(3D)model of the catcher,including multiple flexible arms,was established based on the single flexible arm dynamics model,and the simulation and experiment of the arm swarm catcher were conducted.The results show that the presented catcher can capture dynamic noncooperative objects,and the 3D simulated model can generally describe the dynamic process of capture.

关 键 词：非合作目标捕获 臂群捕获 柔性臂动力学 结构设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]