在轨服务三足机器人移动步态分析与控制研究  

Mobile Gait Analysis and Control of on Orbit Service Tripod Robot

作　　者：田艳 周黎莎 龚文斌 林宝军 张慧博 TIAN Yan;ZHOU Lisha;GCONG Wenbin;LIN Baojun;ZHANG Huibo(Innovation Academy for Microsatellites of Chinese Academy of Sciences,Shanghai 201203,China;Aerospace Information Research Institute,Chinese Academy of Sciences,Beijing 100094,China;University of Chinese Academy of Sciences,Beijing 100049,China;College of Mechanical And Electrical Engineering,Harbin Engineering University,Harbin 150006,China)

机构地区：[1]中国科学院微小卫星创新研究院,上海201203 [2]中国科学院空天信息创新研究院,北京100094 [3]中国科学院大学,北京100049 [4]哈尔滨工程大学机电工程学院,哈尔滨150006

出　　处：《空间控制技术与应用》2022年第6期22-31,共10页Aerospace Control and Application

基　　金：国家自然科学基金(U21B200193);河北省青年拔尖人才(BJ2019049);空间智能控制技术国防科技重点实验室开放基金(6142208200101);天津市微低重力环境模拟技术重点实验开放基金(WDZL-2021-02);CAST创新基金(CAST-2021-01-11)。

摘　　要：针对太空中人造卫星故障产生频率高、种类多导致的卫星修复或再生产成本高的问题,提出了一种通过仿生爪刺和干粘附在卫星上附着移动,并能依靠自身所携带的多负载机构,对大多卫星故障进行修复的在轨服务三足机器人系统.本系统完成了机体结构、五自由度机械臂、爪刺足部以及多种末端负载的设计,并给出了三足机器人机械臂工作转角范围和工作空间大小,通过对各种复杂路况分析确定了三足机器人4种步态,并分别对4种步态进行了设计及仿真.最后提出了基于循环神经网络的最优控制算法,利用Solidworks建立了三维模型,通过Matlab及Adams软件完成了对WALK步态的联合仿真,模拟了机械臂和末端负载的联合运动,测量并分析了各关节的工作转矩及机体质心位移,结果表明所设计的三足机器人系统满足相应指标要求.In order to solve the problem of high cost of satellite repair or reproduction caused by high frequency and variety of artificial satellite faults in space,an on orbit service tripod robot system is proposed,which is attached and moved on the satellite by bionic claws and dry adhesion and can repair most of the satellite faults via relying on the various load mechanisms carried by itself.This system contains the design of the body structure,the five degree of freedom manipulator,the paw stab foot and a variety of terminal loads,and also gives the working angle range and working space size of the tripod robot manipulator.Through the analysis of various complex road conditions,four gaits of the tripod robot are determined,designed and simulated.Finally,the optimal control algorithm based on circulating neural networks is proposed.The three dimensional model is established by Solidworks,and the joint simulation of WALK gait is completed by Matlab and Adams software.The joint motion of the manipulator and the end load is simulated.The working torque of each joint and the quality displacement of the robot are measured and analyzed.The results show that the designed tripod robot system meets the corresponding index requirements.

关 键 词：在轨服务 微小卫星 空间机器人 步态设计 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]