| 漂浮载体上机械臂的工作空间 |
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| 引用本文： | 顾晓勤 刘延柱. 漂浮载体上机械臂的工作空间[J]. 力学季刊, 1996, 17(1): 22-26 |
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| 作者姓名： | 顾晓勤 刘延柱 |
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| 作者单位： | 上海交通大学(顾晓勤)，上海交通大学(刘延柱) |
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| 基金项目： | 国家自然科学基金，高等学校博士点专项科研基金 |
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| 摘 要： | 本文讨论载于航天器的机械臂的工作空间问题，导出机械臂位形计算的普遍公式。对不同载体控制方案的机械臂工作空间进行分析和对比，并提出了为扩大工作空间的机械设计原则，最后讨论了负载对工作空间的影响。
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| 关 键 词： | 空间 机械臂 工作空间 多体动力学 航天器 |
ON WORKSPACE OF A MANIPULATOR ON FLOATING VEHICLE |
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| Gu Xiaoqin Liu Yanzhu. ON WORKSPACE OF A MANIPULATOR ON FLOATING VEHICLE[J]. Chinese Quarterly Mechanics, 1996, 17(1): 22-26 |
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| Authors: | Gu Xiaoqin Liu Yanzhu |
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| Affiliation: | Shanghai Jiaotong University |
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| Abstract: | In this paper, the workspace of a manipulator on a spacecraft is discussed. The generalized formula of the configuration of a manipulator has been derived and workspaces of a manipulator with different types of control of the vehicle have been analyzed and have been compared with one another. With regard to the extension of the workspace, some principles of the design of the manipulator arc proposed. Finally, the relationship between the workspace and the mass of the payload is discussed. |
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| Keywords: | Space manipulator Workspace Mullibody dynamics. |
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