绳簇主被动混合驱动空间机械臂设计及其力-位-型融合控制  

Design and force-position-model fusion control of a hybrid active and passive cable cluster-driven hyper-redundant space manipulator

作　　者：梁斌 黄学祥[2] 刘天亮 徐文福 袁晗 闫磊 王学谦 LIANG Bin;HUANG XueXiang;LIU TianLiang;XU WenFu;YUAN Han;YAN Lei;WANG XueQian(Qiyuan Laboratory,Beijing 100084,China;Beijing Institute of Tracking and Communication Technology,Beijing 100010,China;School of Mechanical Engineering and Automation,Harbin Institute of Technology,Shenzhen 518055,China;Tsinghua Shenzhen International Graduate School,Shenzhen 518055,China)

机构地区：[1]启元实验室,北京100084 [2]北京跟踪与通信技术研究所,北京100010 [3]哈尔滨工业大学(深圳)机电工程与自动化学院,深圳518055 [4]清华大学深圳国际研究生院,深圳518055

出　　处：《中国科学：技术科学》2024年第12期2319-2336,共18页Scientia Sinica(Technologica)

基　　金：国家自然科学基金(批准号:62173114,62203140,92248304)资助项目。

摘　　要：针对在轨狭小/受限空间操作的需求,本文提出了一种绳簇主被动混合驱动空间机械臂及其力-位-型融合控制方法.首先,介绍了臂段主动驱动与段内被动联动相结合的混合驱动原理,设计了一种绳簇驱动空间机械臂系统,分析了“绳长-拉力”匹配特性及机械臂冗余运动特性;其次,将漂浮基非完整冗余性、机械臂运动冗余性和绳簇驱动机构变刚度特性统一表征为型空间,基于此建立系统的位-型复合运动学及静力学模型;进而,提出了绳簇主被动混合驱动空间机械臂的力-位-型融合控制方法,包括广义任务空间多目标协同控制、臂段分解运动控制和驱动组绳长-拉力混合控制三部分,将绳长单向过约束与拉力分配无穷性结合起来,实现机械臂末端操作力、位姿及系统型参数按期望目标变化的同时,避免绳索松弛或断裂.最后,研制了空间机械臂样机,开展了基于气浮台的平面多障碍回避、狭缝穿越以及基于吊丝系统的空间狭缝穿越实验,结果验证了机械臂灵巧操作性能及所提方法的有效性.This paper proposes a hybrid active and passive cable cluster-driven hyper-redundant space manipulator and its force–position–model fusion control(FPMFC) method,optimized for operations in narrow-constrained environments.The hybrid driving principle combines active driving of discrete arm segments with passive driving within each single segment.Utilizing this principle,a cable cluster-driven space manipulator system is designed,analyzing the “length–tension” relationship and motion redundancy.The system accounts for the nonholonomic redundancy of a free-floating space robot,manipulator motion redundancy,and the variable stiffness characteristics of the cable cluster-driven mechanism,all represented in a unified “model” space.Consequently,composite kinematic and static models are established.The FPMFC method features multiobjective collaborative control in a generalized task space,resolved motion control of arm segments,and a hybrid cable length/tension control of driving elements.By combining the unidirectional driving constraint of cables with the infinite distribution solution of cable tension,the system achieves the desired endeffector force,pose,and manipulator “model” parameters,avoiding cable slack or breakage.Finally,a prototype was developed,and several typical experiments,such as multiobstacle avoidance and target reaching in narrow spaces,were conducted.The results validate the dexterous operation performance of the space manipulator and the effectiveness of the proposed FPMFC method.

关 键 词：在轨操控 空间机械臂 绳簇主被动混合驱动 超冗余机械臂 力-位-型融合控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]