月面采样机械臂刚度建模与误差补偿  

Stiffness Analysis and Error Compensation of Lunar Sampling Manipulator

作　　者：张运动 刘传凯[2,3] 黄开启 苏建华[4] 陈钢[5] 张宽[2,3] ZHANG Yundong;LIU Chuankai;HUANG Kaiqi;SU Jianhua;CHEN Gang;ZHANG Kuan(School of Mechanical and Electrical Engineering,Jiangxi University of Science and Technology,Ganzhou 341000,China;Beijing Aerospace Control Center,Beijing 100094,China;The Key Laboratory of Science and Technology on Aerospace Flight Dynamics,Beijing 100194,China;Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China;School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China)

机构地区：[1]江西理工大学机电工程学院,赣州341000 [2]北京航天飞行控制中心,北京100094 [3]航天飞行动力学技术重点实验室,北京100094 [4]中国科学院自动化研究所,北京100190 [5]北京邮电大学自动化学院,北京100876

出　　处：《深空探测学报（中英文）》2023年第2期169-177,共9页Journal Of Deep Space Exploration

基　　金：国家自然科学基金资助项目(61972020,62003025);航天飞行动力学技术重点实验室基金(6142210200307,XTB6142210210302)。

摘　　要：针对在月面采样任务中,表取采样机械臂受臂杆和关节柔性影响,呈现出低刚度特性导致其控制精度降低的问题,提出了一种基于机械臂柔性变形估计的末端操作误差补偿方法,通过分析关节柔性、臂杆柔性和自重等因素对机械臂末端位姿的联合影响关系,构建了多自由度机械臂的整体刚度模型,进一步通过有限元分析和真实变形对比等方法,对机械臂整体刚度模型的误差计算精度进行评估定界,给出了机械臂在不同构型条件下末端位置估计的误差边界。在此基础上设计了机械臂末端操作的一次性补偿控制方法,可将机械臂末端的最大控制偏差从35mm降低到1mm以内,极大提高了表取采样机械臂模拟系统的绝对定位精度。In the lunar surface sampling mission,the lunar sampling manipulator,due to the flexibility of its boom and joints,has low stiffness,which leads to the reduction of manipulator control accuracy.To address the above problem,in this paper,an endoperation error compensation method was proposed based on the estimation of flexible deformation of the manipulator,and an overall stiffness model of the multi-degree-of-freedom manipulator was constructed by analyzing joint flexibility,arm rod flexibility and self-weight and other factors on joint flexibility of the end position of the manipulator.The error bounds for the end position estimation of the manipulator under different configuration conditions were given.On this basis,a one-time compensation control method for the end operation of the manipulator was designed,which can reduce the maximum control deviation of the end of the robotic arm from 35 mmto less than 1 mm,greatly improving the absolute positioning accuracy of the lunar sampling manipulator simulation system.

关 键 词：月面采样机械臂 末端刚度分析 误差补偿 有限元分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]