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欠驱动空间柔性机器人动力学建模与实时仿真
引用本文:田富洋,吴洪涛,王冉冉,李法德.欠驱动空间柔性机器人动力学建模与实时仿真[J].力学与实践,2012,34(4):24-30.
作者姓名:田富洋  吴洪涛  王冉冉  李法德
作者单位:1. 山东农业大学,机电学院,山东省园艺机械与装备重点实验室,山东泰安 271018; 2. 南京航空航天大学,机电学院,南京 210016
基金项目:国防科工委“十一五”某预研基金资助项目
摘    要:研究了在轨服务欠驱动空间柔性机器人的广义递推高效动力学算法. 根据系统中铰的驱动情况分别对铰链定义为主动铰和被动铰,通过判断铰链的类型分别按照两次从系统的顶端到基座的顺序、一次从基座到顶端的顺序进行了系统铰接体惯量的递推、系统冗余力的递推和广义加速度和广义主动力的递推. 通过上述3 种方式的递推过程建立了空间机器人广义递推动力学模型,实现了高效率O(n) 次的计算效率. 然后采用线性多步积分算法,对所建立的微分-代数方程进行了快速的数值求解. 最后通过软件编制仿真验证了本研究内容的正确性和高效性.

关 键 词:空间柔性机器人  广义递推  微分-代数方程  实时仿真  
收稿时间:2011-11-04;

RECURSIVE DYNAMICS AND REAL TIME SIMULATION OF UNDER-ACTUATED FLEXIBLE SPACE ROBOTS SYSTEM
TIAN Fuyang,WU Hongtao WANG Ranran LI Fade.RECURSIVE DYNAMICS AND REAL TIME SIMULATION OF UNDER-ACTUATED FLEXIBLE SPACE ROBOTS SYSTEM[J].Mechanics and Engineering,2012,34(4):24-30.
Authors:TIAN Fuyang  WU Hongtao WANG Ranran LI Fade
Institution:1. Dept. Mechanical and Electrical Engineering, Shandong Agriculture University, Shandong Provincial Key Laboratory of Horticultural Machineries and Equipments, Tai'an 271018, China; 2. Dept. Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
Abstract:In order to improve the modeling efficiency for the computational dynamics of the open loop flexible robot,the generalized hybrid recursive dynamics base on the Spatial Operator Algebra(SOA) theory was presented.The generalized flexible robot was described in according to the type of the joint(active or passive). The generalized articulated inertia-matrix,the residual forces and the generalized acceleration and torque were computed through twice tip-to-base recursion and once base-to-tip recursion.At last the 0(n) hybrid dynamics was gained.Then the real time solver for the differential-algebra equation was studied based on the linear multi-step method in this paper.Simulations results show that the dynamic modeling and fast integration techniques proposed in this paper are very useful.
Keywords:flexible space robots  hybrid recursion  differential-algebra equation  real time simulation
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