基于动锚点座绳驱并联机器人的空间机器人微重力模拟试验系统设计与控制  

Design and Control Method of Movable Anchor Point Cable⁃driven Parallel Robot in Ground Microgravity Experiments for Space Robots

作　　者：袁晗 安浩 郑宗楷 徐文福 YUAN Han;AN Hao;ZHENG Zongkai;XU Wenfu(School of Mechanical Engineering and Automation,Harbin Institute of Technology(Shenzhen),Shenzhen 518055,China;Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics,Shenzhen 518055,China)

机构地区：[1]哈尔滨工业大学(深圳)机电工程与自动化学院,深圳518055 [2]广东省智变机构与适应性机器人重点实验室,深圳518055

出　　处：《载人航天》2024年第6期771-783,共13页Manned Spaceflight

基　　金：国家自然科学基金项目(62173114)。

摘　　要：针对地面微重力模拟验证或测试设备的需求,提出了新型的动锚点座绳驱动并联机器人概念设计,以及应用于轻量级、大负载、大跨度等场景的典型结构设计。介绍了典型的动锚点座结构设计,建立动锚点座绳驱并联机器人基于优化求解的运动学模型,并融入了一种避障约束,通过实验验证了动锚点座绳驱并联机器人运动学求解方法的有效性,同时验证了该机器人能够实现对空间障碍物的实时避障;为了实现地面微重力模拟,提出了动锚点座绳驱并联机器人的位置控制方法、阻抗控制方法以及零力控制方法。实验结果表明:动锚点座绳驱机器人具有良好的位置精度、平滑的零力拖动能力以及良好的阻抗控制能力。A novel concept of a cable-driven parallel robot with movable anchor points was proposed to meet the demands for ground microgravity simulation verification or testing equipment.Additionally,a typical structural design was developed for applications in lightweight,high-load,and large-span scenarios.The design of a typical movable anchor point structure was introduced.A kinematic model of the cabledriven parallel robot with movable anchor points was established based on optimization solutions,incorporating an obstacle avoidance constraint.The effectiveness of the kinematic solution method for the robot was verified through experiments,along with its capability to perform realtime obstacle avoidance in space.To achieve ground microgravity simulation,the position control,impedance control,and zero-force control methods for the cabledriven parallel robot with movable anchor points were proposed.The experimental results showed that the robot exhibited good positional accuracy,smooth zero-force dragging ability,and effective impedance control performance.

关 键 词：绳驱并联机器人 动锚点座 地面微重力试验 机器人控制 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]