高技术通讯Issue(10)：74-85,12.DOI:10.3772/j.issn.10020470.2014.10.008
不同重力环境下间隙对机械臂末端轨迹的影响
Effect of clearance on the manipulator end trajectory under different gravity environments
摘要
Abstract
Taking the on orbit servicing and high precision manipulation as the background, a clearance equivalent model of the mechanisms with clearance was studied for both ground alignment and spatial service according to the movement characteristics of mechanisms clearance interface under different gravity environments. The main factors affecting the formation of clearance under different gravity environments were analyzed, and then taking a 2 DOF manipulator as an example, the dynamics analytical solution of the manipulator with clearance in both the gravity and the gravity release environments was obtained by using the Massless link method. What is more, the simulation research on the coupling effect of clearance and gravity on the precision of end trajectory tracking control was conducted. Based on this,to compensate the uncertainty and the disturbance caused by the clearance equivalent model, a clearance compensation controller was designed and the simulation results showed the effectiveness of it.关键词
空间机械臂/关节间隙/无质量杆方法/微重力Key words
space manipulator/joint clearance/massless link method/microgravity引用本文复制引用
刘福才,侯甜甜,秦利,高静方..不同重力环境下间隙对机械臂末端轨迹的影响[J].高技术通讯,2014,(10):74-85,12.基金项目
863计划资助项目。 （）
