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受重力梯度扰动的空间机器人姿态动力学非线性特征分析
引用本文:郭胜鹏,李东旭,范才智,孟云鹤. 受重力梯度扰动的空间机器人姿态动力学非线性特征分析[J]. 物理学报, 2014, 63(10): 100504-100504. DOI: 10.7498/aps.63.100504
作者姓名:郭胜鹏  李东旭  范才智  孟云鹤
作者单位:国防科学技术大学航天科学与工程学院, 长沙 410073
基金项目:国防科学技术大学基础科学预研计划(批准号:JC13-01-08)资助的课题~~
摘    要:研究考虑重力梯度扰动的自由漂浮空间机器人姿态动力学建模方法.以二连杆空间机器人模型为基础,对机械臂构型固定时系统俯仰姿态受扰运动的非线性特征进行了深入分析.利用相平面轨迹和Poincaré截面对受扰运动特征进行了描述,反映出受扰运动对轨道偏心率的变化比较敏感,在圆轨道时仅有周期摆动和翻滚两种形式,而在椭圆轨道时出现了准周期运动.进一步利用系统分岔图、功率谱图对这种非线性运动特征进行了定量分析.

关 键 词:重力梯度  空间机器人  姿态动力学  非线性
收稿时间:2013-11-27

Nonlinearity of the attitude motion of space robots subjected to gravitational gradient torque
Guo Sheng-Peng,Li Dong-Xu,Fan Cai-Zhi,Meng Yun-He. Nonlinearity of the attitude motion of space robots subjected to gravitational gradient torque[J]. Acta Physica Sinica, 2014, 63(10): 100504-100504. DOI: 10.7498/aps.63.100504
Authors:Guo Sheng-Peng  Li Dong-Xu  Fan Cai-Zhi  Meng Yun-He
Abstract:The attitude dynamics equation of free-floating space robots subjected to gravitational gradient effect is investigated. A two-link space robot is employed to analyze nonlinear properties of the perturbed yaw motion of the system in depth, when the manipulator configuration is fixed. Its nonlinear dynamical behavior is described by phase plane plot and Poincaré section. It is shown that the perturbed motion is sensitive to orbital eccentricity. The system takes on periodic motion and tumbling in circular orbit, while additional quasi-periodic motion in elliptic orbit. Furthermore, these nonlinearities are quantitatively studied by means of bifurcation and power spectrum.
Keywords:gravitational gradientspace robotsattitude dynamicsnonlinearity
Keywords:gravitational gradient  space robots  attitude dynamics  nonlinearity
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