月面采样机械臂采样位形分析与优选  

Analysis and optimization of sampling configuration for lunar sampling manipulator

作　　者：陈钢[1] 黄泽远 游红 王一帆[2] 刘传凯[3,4] 王俊魁 CHEN Gang;HUANG ZeYuan;YOU Hong;WANG YiFan;LIU ChuanKai;WANG JunKui(School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China;School of Artificial Intelligence,Beijing University of Posts and Telecommunications,Beijing 100876,China;Beijing Aerospace Control Center,Beijing 100094,China;Key Laboratory of Science and Technology on Aerospace Flight Dynamics,Beijing 100094,China)

机构地区：[1]北京邮电大学自动化学院,北京100876 [2]北京邮电大学人工智能学院,北京100876 [3]北京航天飞行控制中心,北京100094 [4]航天飞行动力学技术重点实验室,北京100094

出　　处：《中国科学：技术科学》2023年第3期473-486,共14页Scientia Sinica(Technologica)

基　　金：国家自然科学基金(批准号:61972020);装备预研国防科技重点实验室基金(编号:19KY1213,19NY1208,6142210200307);北京邮电大学博士生创新基金(编号:CX2021119)资助项目。

摘　　要：在月面采样任务中,受土壤反作用力、能耗等因素影响,机械臂采样位形会影响其采样性能.为了准确评估采样位形对采样性能的影响,提高采样任务执行的可靠性,提出了机械臂采样位形分析方法与优选策略.首先,分析机械臂与采样器、采样器与铲挖执行机构之间的耦合关系,建立机械臂与采样器的联合动力学模型;其次,分析采样过程中机械臂位形与土壤反作用力、机械臂末端抗偏移能力、关节运动行程以及运动能耗之间的关系,并构建量化指标对采样性能进行评估;进而,根据构建的采样性能评价指标,构建考虑采样点区域、关节轨迹等多种约束的多目标最优化问题框架,设计基于NSGA-2多目标遗传算法的采样位形优选策略;最后,以嫦娥五号采样机械臂为对象进行实验分析.实验结果验证了本文提出的采样位形分析方法与优选策略的有效性,相关结论为嫦娥五号采样机械臂实际采样指令的生成提供了参考依据.For lunar sampling,the sampling configuration of the manipulator affects the performance of the manipulator due to the regolith reaction force,energy consumption,and other factors.An analysis method and optimization strategy of manipulator sampling configuration are proposed to accurately evaluate the influence of sampling configurations on sampling performance and improve execution reliability.First,the coupling relationships between the arm and the sampler,as well as the sampler and the shovel actuator,are investigated,and the combined dynamic model of the manipulator and the sampler is established.Second,the relationship between the manipulator’s configuration and the regolith reaction force,the anti-deviation ability of the manipulator’s end,the motion stroke of the joints,and the energy consumption are investigated,and quantitative indexes are developed to evaluate sampling performance under various configurations.Then,according to the indexes,a multi-objective optimization framework is built by considering constraints such as sampling point region and joint trajectory,and a sampling configuration optimization strategy based on the NSGA-II multi-objective genetic algorithm is designed.Finally,the experiments and analyses are conducted.The results verify the effectiveness of the proposed sampling configuration analysis method and optimization strategy,and the relevant conclusions also provide a reference for the generation of sampling instructions of Chang’e-5 manipulator.

关 键 词：月面采样机械臂 采样性能评估 末端刚度分析 位形优选 

分 类 号：V476.3[航空宇航科学与技术—飞行器设计] TP241[自动化与计算机技术—检测技术与自动化装置]