一种柔索驱动太空舱外搬运机器人研究

黄佳怡; 陈柏; 胡忠文; 吴洪涛

一种柔索驱动太空舱外搬运机器人研究

1.
,南京航空航天大学江苏省精密与微细制造技术重点实验室,南京 210016;
2.
中国联合工程公司,杭州 310022

基金项目:

南京航空航天大学基本科研业务费专项科研项目(NS2010119)资助

详细信息

作者简介:
黄佳怡(1985-)，硕士研究生，研究方向为柔索驱动并联机器人，hjy66@126.com;陈柏(联系人)，副教授，博士chenhve@126.com

黄佳怡(1985-)，硕士研究生，研究方向为柔索驱动并联机器人，hjy66@126.com;陈柏(联系人)，副教授，博士chenhve@126.com

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出版历程
- 收稿日期: 2009-12-08
- 刊出日期: 2015-06-10

A Cable-driven Extravehicular Transport Robot Analysis

1.
Jiangsu Key Laboratory of Precision and Micro-manufacturing Technology, Nanjing University of Aeronautics and Astronautics,Nanjing 210016;
2.
China United Engineering Corporation,Hangzhou 310022

摘要

摘要: 设计并制作了一种三自由度柔索驱动太空舱外平面搬运机器人。建立了该机器人的运动学模型,利用Matlab软件解算了相应的模型。在此基础上,对其进行了轨迹规划,仿真分析了沿运动轨迹运动时,驱动柔索长度的变化规律。基于正交补的方法分析了该机器人的工作空间,避免了通常采用广义逆求解工作空间时由于向量z的任意性引入的求解问题。通过实验验证了所构建机器人运动学模型的正确性及其运动的连续可控性。研究表明:该机器人沿轨迹运动时,柔索长度连续变化,保证了搬运机器人在整个作业过程运行平稳、连续;该机器人的定位精度、工作空间能满足太空舱外的搬运操作要求。
- 柔索驱动 /
- 建模 /
- 轨迹规划 /
- 正交补 /
- 工作空间
Abstract: A three-DOF cable-driven extravehicular planar transport robot with four cables was designed and manufactured.The kinematic models of the robot were established and then solved by Matlab.The trajectory was planned and the changes of the length of the four cables were simulated along the trajectory based the models.Furthermore,the workspace of the robot was analyzed based on the method of orthogonal complement,which can avoid the solving problems brought by the arbitrariness of the vector z.And the kinematic models and the continuous and controllable movement have been verified by an experiment platform.Research shows that the changes of the length of cables are continuous when the robot moves along the planned trajectory,which ensures the smooth and continuous movement of the robot during the whole operation,and the accuracy of positioning and the workspace of the cable-driven robot can also satisfy the task requirements.
- cable-driven /
- transport robot /
- trajectory planning /
- trajectories /
- orthogonal complement

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参考文献(7)

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