航天服手臂运动学建模及其关节力学特性的测试  

Modeling of Spacesuit's Arm Based on Kinematics and Measurement of Mechanical Characteristics of its Joint

作　　者：王昊[1] 金明河[1] 高晓辉[1] 杜立彬[1] 赵京东[1] 刘宏[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150001

出　　处：《机器人》2004年第3期212-217,共6页Robot

摘　　要：介绍基于随动式测量机器人的航天服关节力学特性测量原理 ,根据舱内航天服手臂的特性建立基于机器人运动学的数学模型 ,提出基于神经网络的逆运动学算法进行航天服关节角度的计算 ,并采用基于泛化能力的网络构造算法进行神经网络拓扑结构的优化设计 .A method to measure the spacesuit joints' mechanical characteristics based on passive robot is given in this paper. Based on its special mechanical structure, a kinematic model of the IVA (intra-vehicular activity) spacesuit's arm is built. The inverse kinematics of spacesuit's arm based on artificial neural networks is put forward, and the constructional algorithm of the network architecture based on the generalization ability is developed. The joints' mechanical characterstics of an actual IVA spacesuit's arm is measured. Experimental results prove the effectiveness of the measuring principle and the proposed algorithm.

关 键 词：随动式测量机器人 运动学 数学模型 神经网络 航天服手臂 建模 关节力学特性 测试 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TS941.732[自动化与计算机技术—控制科学与工程]