Workspace,stiffness analysis and design optimization of coupled active-passive multilink cable-driven space robots for on-orbit services  

作　　者：Jianqing PENG Haoxuan WU Tianliang LIU Yu HAN 

机构地区：[1]School of Intelligent Systems Engineering,Shenzhen Campus of Sun Yat-sen University,Shenzhen 518109,China [2]Guangdong Provincial Key Laboratory of Fire Science and Technology,Guangzhou 510006,China [3]School of Mechanical Engineering and Automation,Harbin Institute of Technology,Shenzhen 518055,China

出　　处：《Chinese Journal of Aeronautics》2023年第2期402-416,共15页中国航空学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(No.62103454);the Key-Area Research and Development Program of Guangdong Province(No.2020B1111010001);the Guangdong Basic and Applied Basic Research Foundation(No.2019A1515110680);the Shenzhen Municipal Basic Research Project for Natural Science Foundation(No.JCYJ20190806143408992);the Fundamental Research Funds for the Central Universities(No.2021qntd08);Sun Yat-sen University。

摘　　要：The use of space robots(SRs)for on-orbit services(OOSs)has been a hot research topic in recent years.However,the space unstructured environment(i.e.:confined spaces,multiple obstacles,and strong radiation interference)has greatly restricted the application of SRs.The coupled active-passive multilink cable-driven space robot(CAP-MCDSR)has the characteristics of slim body,flexible movement,and electromechanical separation,which is very suitable for extreme space environments.However,the dynamic and stiffness modeling of CAP-MCDSRs is challenging,due to the complex coupling among the active cables,passive cables,joints,and the end-effector.To deal with these problems,this paper proposes a workspace,stiffness analysis and design optimization method for such type of MCDSRs.Firstly,the multi-coupling kinematics relationships among the joint,cables and the end-effector are established.Based on hybrid series-parallel characteristics,the improved coupled active–passive(CAP)dynamic equation is derived.Then,the maximum workspace,the maximum stiffness,and the minimum cable tension are resolved,among them,the overall stiffness is the superposition of the stiffness produced by the active and the passive cable.Furthermore,the workspace,the stiffness,and the cable tension are analyzed by using the nonlinear optimization method(NOPM).Finally,an 8-DOF CAP-MCDSR experiment system is built to verify the proposed modeling and trajectory tracking methods.The proposed modeling and analysis results are very useful for practical space applications,such as designing a new CAP-MCDSR,or utilizing an existing CAP-MCDSR system.

关 键 词：Coupled active–passive(CAP) Hybrid series-parallel Multilink cable-driven space robot(MCDSR) Nonlinear optimization(NOP) On-orbit services(OOSs) Robotics Space 

分 类 号：V443[航空宇航科学与技术—飞行器设计]