机械科学与技术2018，Vol.37Issue(4)：646-651,6.DOI:10.13433/j.cnki.1003-8728.2018.0424
SpiderFab空间机械臂系统耦合动力学计算与仿真
Calculating and Simulating Coupling Dynamics of a Spiderfab-type Space Manipulator
摘要
Abstract
The SpiderFab-type space manipulator is a typical space-based robot system.In order to quantitatively understand the influence on its floating base,which is caused by the motion of a manipulator,and to design its position and orientation control system,kinematics and dynamics equations are built.The coupling dynamics between a floating base and a manipulator is presented based on the conservation law of momentum.It is illustrated that the state change in the floating base is not only dependent on the current manipulator joint velocities but also joint paths.To deeply elaborate the coupled dynamics,three computer simulations of a space-based 3-degree-of-freedom (DOF) manipulator system are conducted.Three joint velocity inputs are given,and the post variation of the floating base is to be computed.The correctness of the method is demonstrated.关键词
空间机械臂/耦合/动力学/位姿/仿真Key words
SpiderFab-type space manipulator/space-based robot/coupling dynamics/computer simulation分类
信息技术与安全科学引用本文复制引用
陈正仓,骆海涛..SpiderFab空间机械臂系统耦合动力学计算与仿真[J].机械科学与技术,2018,37(4):646-651,6.基金项目
国家自然科学基金项目(51505470)资助 （51505470）
