面向在轨装配的冗余索并联机构变刚度控制  

Variable stiffness control of redundant cable-driven parallel mechanism for on-orbit assembly

作　　者：于金山 李潇[2] 王国星 陶建国[1] 王浩威 YU Jin-shan;LI Xiao;WANG Guo-xing;TAO Jian-guo;WANG Hao-wei(School of Mechatronic Engineering,Harbin Institute of Technology,Harbin 150001,China;Institute of Spacecraft System Engineering,Beijing 100094,China;Beijing Satellite Manufacturing Limited Company,Beijing 100094,China)

机构地区：[1]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001 [2]北京空间飞行器总体设计部,北京100094 [3]北京卫星制造厂有限公司,北京100094

出　　处：《光学精密工程》2021年第12期2832-2843,共12页Optics and Precision Engineering

基　　金：国家自然科学基金资助项目(No.U2013603)。

摘　　要：为了提高一种面向在轨装配的索并联机构的工作性能,提出了变刚度控制算法。建立了索并联机构的完整刚度模型,分析了绳索张力分布对不同方向刚度的影响。然后,考虑影响绳索张力分布的矢量λ的安全边界,建立了变刚度控制算法,该算法消除了刚度模型中对整体影响较小的耦合刚度,提高了计算效率,并且通过分配权重的方式对不同方向的刚度进行不同优先级的控制。最后,通过仿真与实验对变刚度控制算法的效果进行了验证。以旋拧操作为例,仿真结果表明:在对运动平台施加一定扰动力时,采用变刚度控制算法求解出的索力分布使薄弱方向的振动降低了35%。样机实验结果表明,在对索并联机构样机进行刚度控制后,刚度的测量值与理论值具有较强的拟合性,误差分别为16.3%和14.6%。变刚度控制算法可以提高索并联机构的工作性能,具有较强的实用性,并且可以用于不同类型的冗余索并联机构中。To improve the performance of a cable-driven parallel mechanism(CDPM)for on-orbit assem⁃bly through by changing its stiffness,a variable stiffness control algorithm was proposed.First,the com⁃plete stiffness model of the CDPM was established.Secondly,the influence of tension distribution on the stiffness in different directions was analyzed and studied.Then,considering the safety margin of the vectorλ,which affected the tension distribution,a variable stiffness control algorithm for the CDPM was estab⁃lished.The algorithm eliminates the coupling stiffness that has a small effect on the overall stiffness in the stiffness model,improves the calculation efficiency,and can assign weights to control the stiffness in differ⁃ent directions with different prioritypriorities.Finally,the effect of the variable stiffness control algorithm was verified through a simulation and an experiment.Taking the screwing operation as an example,the simulation results show that when a disturbing force is applied to the moving platform,the tension distribu⁃tion obtained by the variable stiffness control algorithm can reduce the vibration in the weak direction by 35%.The prototype experiment results show that after the stiffness control of the CDPM prototype,the measured value of the stiffness has a strong fit with the theoretical value,and the errors for these values are 16.3%and 14.6%,respectively.The proposed variable stiffness control algorithm can improve the per⁃formance of the CDPM by changing its stiffness.The algorithm has strong practicability and can be used for different types of redundant CDPMs.

关 键 词：索并联机构 冗余驱动 刚度 振动 

分 类 号：V476.[航空宇航科学与技术—飞行器设计]