基于平面气浮实验数据获取机械臂在轨关节驱动力矩的理论建模与实验验证

doi:10.13209/j.0479-8023.2019.006

北京大学学报自然科学版 ›› 2019, Vol. 55 ›› Issue (4): 597-602.DOI: 10.13209/j.0479-8023.2019.006

基于平面气浮实验数据获取机械臂在轨关节驱动力矩的理论建模与实验验证

张磊¹, 崔志武², 陈韬², 姚宏翔³, 赵振^2,†

1. 空间智能机器人系统技术与应用北京市重点实验室, 中国空间技术研究院总体部, 北京 100094 2. 北京航空航天大学航空科学与工程学院, 北京 100191 3. 清华大学航天航空学院, 北京 100084

收稿日期:2018-06-06 修回日期:2018-10-01 出版日期:2019-07-20 发布日期:2019-07-20
通讯作者: 赵振, E-mail: bhzhaozhen(at)buaa.edu.cn
基金资助:
中国空间技术研究院总体部与北京航空航天大学航空学院合作项目和国家自然科学基金(11572017)资助

Obtaining Driving Torques of Space Manipulators Based on Ground Planar Experimental Data of the Manipulator with Air-bearing Support: Modeling and Experimental Verification

ZHANG Lei¹, CUI Zhiwu², CHEN Tao², YAO Hongxiang³, ZHAO Zhen^2,†

1. Beijing Key Laboratory of Intelligent Space Robotic System Technology and Application, Institute of Spacecraft, Beijing 100094
2. School of Aeronautic Science and Engineering, Beihang University, Beijing 100191 3. School of Aerospace Engineering, Tsinghua University, Beijing 100084

Received:2018-06-06 Revised:2018-10-01 Online:2019-07-20 Published:2019-07-20
Contact: ZHAO Zhen, E-mail: bhzhaozhen(at)buaa.edu.cn

摘要/Abstract

摘要：

为了正确地掌握空间机械臂在轨服务过程的真实动力学特性, 基于Lagrange方程, 获得机械臂有/无气浮装置时关节驱动力矩的差值函数, 然后利用带气浮装置的关节驱动力矩的地面实验数据减去理论差值, 预测机械臂在轨服务时的真实驱动力矩。最后采用刚性较好的小型机械臂进行实验, 验证了该方法的正确性。

关键词: 空间机械臂, 动力学建模, 驱动力矩

Abstract:

In order to extract the true dynamics of a manipulator in space from the experimental data on ground, gap functions of the joints’ driving torques are deduced by Lagrangian equations between two manipulators with and without air-bearing support. The real driving torques can be predicted by the ground data minus the gap function. Verifying experiments are designed and carried out by a small manipulator with rigid arms.

Key words: space manipulator, dynamic modeling, driving torque

张磊, 崔志武, 陈韬, 姚宏翔, 赵振. 基于平面气浮实验数据获取机械臂在轨关节驱动力矩的理论建模与实验验证[J]. 北京大学学报自然科学版, 2019, 55(4): 597-602.

ZHANG Lei, CUI Zhiwu, CHEN Tao, YAO Hongxiang, ZHAO Zhen. Obtaining Driving Torques of Space Manipulators Based on Ground Planar Experimental Data of the Manipulator with Air-bearing Support: Modeling and Experimental Verification[J]. Acta Scientiarum Naturalium Universitatis Pekinensis, 2019, 55(4): 597-602.

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链接本文: https://xbna.pku.edu.cn/CN/10.13209/j.0479-8023.2019.006

https://xbna.pku.edu.cn/CN/Y2019/V55/I4/597

基于平面气浮实验数据获取机械臂在轨关节驱动力矩的理论建模与实验验证

Obtaining Driving Torques of Space Manipulators Based on Ground Planar Experimental Data of the Manipulator with Air-bearing Support: Modeling and Experimental Verification

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