航天器环境工程2024，Vol.41Issue(4)：503-508,6.DOI:10.12126/see.2024067
空间机械臂在轨运动可靠性预测与评估
Prediction and evaluation of on-orbit motion reliability of space manipulator
摘要
Abstract
In response to the reliability of the endpoint motion accuracy of space manipulators under the impact of high and low temperature alterations,the factors affecting their motion reliability were analyzed.Taking the endpoint position accuracy of the manipulator as an evaluation index,a kinematic model with variable coupling tolerance was established,which considered uncertain factors including arm deformation errors,joint manufacturing errors and assembly errors,etc.And then,the reliability of the endpoint trajectory and the continuous trajectory of the manipulator were analyzed.Finally,the endpoint attitude reliability model of the manipulator based on space alternating high and low temperatures was established.This model was applied to study the reliabilities of position accuracy and attitude accuracy of four endpoints in the motion trajectory of a manipulator under typical working conditions,and the probability of pose failure was obtained.The proposed study may provide a theoretical support for the reliable operation of space manipulators in orbit.关键词
空间机械臂/可靠性评估/运动精度/运动学模型Key words
space manipulator/reliability assessment/motion accuracy/kinematic model分类
航空航天引用本文复制引用
郭晓燕,孙启臣,李云,王凯,李德勇,张子岚,高鹏..空间机械臂在轨运动可靠性预测与评估[J].航天器环境工程,2024,41(4):503-508,6.基金项目
国防基础科研项目(编号:JCKY2022203C024) （编号:JCKY2022203C024）
