基于CAN总线控制系统的航天特种机械臂设计  

Design of Aerospace Special Manipulator Based on CAN Bus Control System

作　　者：王博[1] 邓鹏程 刘国英[1] 冯超[1] 毛利民 WANG Bo;DENG Pengcheng;LIU Guoying;FENG Chao;MAO Limin(Beijing Institute of Space Launch Technology,Beijing 100076,China;Space System Department Equipment Department,Beijing 100076,China)

机构地区：[1]北京航天发射技术研究所,北京100076 [2]航天系统部装备部军代局驻北京地区第二军代室,北京100076

出　　处：《计算机测量与控制》2023年第5期114-119,共6页Computer Measurement &Control

摘　　要：航天特种机械臂具备精确操作和视觉识别的能力,在载人航天领域中广泛应用,为了在复杂环境中精准完成陆基装配任务,设计基于CAN总线控制系统的航天特种机械臂;从关节、连杆、驱动电机、锁紧制动器等方面,组装航天特种机械臂结构元件;装设航天特种机械臂控制器,在控制器中加设一个串行通信接口,将控制器连接到CAN总线中,配置CAN总线控制系统的通信协议,完成航天特种机械臂硬件结构设计;利用航天特种机械臂中传感器设备,检测航天特种机械臂实时位姿,补偿航天特种机械臂重力负载;根据机械臂工作任务,利用CAN总线控制系统,规划移动轨迹,协同运行控制任务,在控制器的支持下,通过控制量的计算与通信,实现航天特种机械臂的控制功能;性能测试实验表明,设计基于CAN总线控制系统的航天特种机械臂平均位置和关节姿态角的控制误差分别为1.47 m和0.29°,平均形变量为2.64 m,具有较好的控制性能和抗压性能。Aerospace special manipulator has the abilities of precise operation and visual recognition,it is widely used in the field of manned spaceflight.In order to accurately complete space tasks in complex environments,a space special manipulator based on CAN bus control system is designed.The special space manipulator elements are assembled from the aspects of joints,connecting rods,drive motors and locking brakes.The system installs the aerospace special manipulator controller,adds a serial communication interface in the controller,connects the controller to the CAN bus,configures the communication protocol of the CAN bus control system,and completes the hardware structure design of aerospace special manipulator.The real-time position and attitude of the space special manipulator are detected by the sensor equipment in the space special manipulator,and the gravity load of the space special manipulator is compensated.According to the work task of the manipulator,the CAN bus control system is used to plan the movement trajectory and coordinate the operation of the control task.With the support of the controller,the control function of the space special manipulator is realized through the calculation and communication of the control quantity.The performance test results show that the control errors of average position and joint attitude angle for the space special manipulator designed based on the CAN bus control system are 1.47 m and 0.29°respectively,and the average shape variable is 2.64 m,which has good control performance and compression resistance.

关 键 词：CAN总线 控制系统 航天机械臂 特种机械臂 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]