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基于例如空间站等恶劣的应用环境,研制了一种具有冗余度的三分支空间机器人。该机器人的一个分支的末端可以和基座固联,另外两个分支可以进行控制来完成各种作业。在宇航员不在的情况下,该机器人可以代替宇航员对科学实验载荷进行操作。利用旋量理论对机器人的逆运动学进行了分析,并建立了统一的数学模型给出了其运动学优化、动力学优化以及容错控制的理论基础。基于球腕的封闭解,提出了一个简单的逆运动学模型。最后,通过计算机结果演示验证了所提出逆运动学模型的有效性。
Based on the harsh application environment such as space station, a three-branch space robot with redundancy is developed. The end of one branch of the robot can be fixedly connected with the base, and the other two branches can be controlled to complete various jobs. In the absence of an astronaut, the robot can replace the astronauts to manipulate the scientific experimental load. The inverse kinematics of the robot is analyzed by using the spin theory and a unified mathematical model is established. The theoretical basis of the kinematics optimization, dynamic optimization and fault-tolerant control are given. Based on the closed solution of the ball and wrist, a simple inverse kinematics model is proposed. Finally, the validity of the proposed inverse kinematics model is verified by computer demonstration.