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SpiderFab空间机械臂系统耦合动力学计算与仿真

陈正仓 骆海涛

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. doi: 10.13433/j.cnki.1003-8728.2018.0424
引用本文: 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. doi: 10.13433/j.cnki.1003-8728.2018.0424
Chen Zhengcang, Luo Haitao. Calculating and Simulating Coupling Dynamics of a Spiderfab-type Space Manipulator[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(4): 646-651. doi: 10.13433/j.cnki.1003-8728.2018.0424
Citation: Chen Zhengcang, Luo Haitao. Calculating and Simulating Coupling Dynamics of a Spiderfab-type Space Manipulator[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(4): 646-651. 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

doi: 10.13433/j.cnki.1003-8728.2018.0424
基金项目: 

国家自然科学基金项目(51505470)资助

详细信息
    作者简介:

    陈正仓(1989-),博士研究生,研究方向为漂浮基空间机械臂系统耦合动力学,路径规划,chenzhengcang@sia.cn

    通讯作者:

    骆海涛,研究员,博士,luohaitao@sia.cn

Calculating and Simulating Coupling Dynamics of a Spiderfab-type Space Manipulator

  • 摘要: SpiderFab型空间机械臂是一种典型的漂浮基空间机械臂系统。为了定量的认识机械臂在运动过程中对基体的扰动影响,并以此为依据设计浮动基体的位姿控制系统,建立了系统的运动学、动力学方程。根据系统动量守恒条件显式的表达出基体与机械臂之间的速度耦合关系,并由此说明基体的位姿变化不仅与机械臂实时关节速度有关,还与机械臂的历史关节路径有关。为了更进一步说明系统内存在的动力学耦合问题,针对一个漂浮基三自由度空间机械臂系统,设计了三组仿真试验。三组不同的关节速度曲线作为输入条件,求解基体关节所受的扰动量。仿真结果证明了计算方法的正确性。
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出版历程
  • 收稿日期:  2017-03-02
  • 刊出日期:  2018-04-05

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