基于Kane方法的双臂空间机器人动力学分析

殷志锋; 葛新锋

基于Kane方法的双臂空间机器人动力学分析

殷志锋¹,
葛新锋^1,2

1.
许昌学院电气信息工程学院, 许昌 461000;
2.
南京航空航天大学机电学院, 南京 210016

基金项目:

河南省青年骨干教师资助计划项目

国家自然科学基金项目(51175261)资助

详细信息

作者简介:
殷志锋(1975-)，副教授，硕士研究生，研究方向为空间机器人运动学和动力学，yinzhifeng11@126.com

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- 文章访问数: 273
- HTML全文浏览量: 37
- PDF下载量: 4
- 被引次数: 0
出版历程
- 收稿日期: 2011-08-28
- 刊出日期: 2015-06-10

Dynamics Analysis of a Dual-arm Space Robot Using Kane-Huston Method

Yin Zhi-feng¹,
Ge Xin-feng^1,2

1.
College of Electrical and Information Eingineering, Xuchang University, Xuchang 461000;
2.
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016

摘要

摘要: 机器人的动力学分析作为机器人设计和控制的中间桥梁,其独特的动力学特性和控制特征非常重要。本文系统研究了双臂空间机器人系统的拓扑结构、运动学及动力学特征,并基于Kane-Huston方法和旋量理论建立了双臂空间机器人系统动力学模型。算例表明,对于给定的运动参数,采用所建立的模型,可以求出双臂空间机器人各组成部分的瞬时运动,反之亦然。仿真结果表明,本文中基于旋量理论的Kane-Huston方法建立的双臂空间机器人系统动力学模型是符合实际的。
- 空间机器人 /
- 低序体 /
- Lie代数 /
- 旋量理论 /
- 动力学 /
- 多体系统 /
- Kane-Huston方法 /
- Kane方程
Abstract: Its dynamics analysis plays an intermediate part in its design and control, so it is important to understand its unique dynamics and control characteristics. The topology, kinematics and dynamics of a dual-arm space robot are systematically studied, and its dynamic model is established by using the Kane-Huston method and the screw theory was presented in this paper. The numerical example shows that, given the values of motion parameters, the transient motion of all parts of the space robot can be solved by using the dynamics model we established. Simulations results show that the dynamics model established with the Kane-Huston method and the screw theory is true to reality.
- dual-arm space robot /
- screw theory /
- dynamics model /
- Kane-Huston method /
- screw theory /

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参考文献(15)

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