机器人2011，Vol.33Issue(1)：9-15,7.DOI:10.3724/SP.J.1218.2011.00009
空间机械臂收拢状态零重力模拟
Zero-g Simulation of Space Manipulator in Furled Status
摘要
Abstract
The zero-g simulation device is designed by using suspender spring and counter weight, and the static gravity compensation formulas of space manipulator's detached body are deduced with gravity compensation theory.Based on the least minimum square theory, an optimization program of suspension force is developed, through which the optimization of multiple torques is transformed into the optimization of a whole target, and the numerical value of each suspension force can be obtained.The model of the zero-g simulation device of space manipulator is built in ADAMS when the length of suspender spring is 1 000 mm.Under the condition that the space manipulator is in stationary state, the relative errors between the optimization results and the simulation results are around 10％.And the bending torque and counter torque generated by the zero-g simulation device can meet the technical requirements when each joint of space manipulator moves at the constant angular speed of 0.5°/s and 1°/s.Therefore, this approach is suitable for zero-g simulation of space manipulator.关键词
空间机械臂/零重力模拟/吊点力优化/ADAMS仿真Key words
space manipulator/ zero-g simulation/ optimization of suspension force/ ADAMS simulafon分类
信息技术与安全科学引用本文复制引用
高海波,郝峰,邓宗全,刘振,丁亮,岳洪浩..空间机械臂收拢状态零重力模拟[J].机器人,2011,33(1):9-15,7.基金项目
机器人技术及系统国家重点实验事自主研究课题(SKLRS200801A02) （SKLRS200801A02）
科技部国际科技合作项目(2010DFR70270) （2010DFR70270）
高等学校学科创新引智计划资助项目(B07018). （B07018）
