| 自主机动空间绳网机器人设计与动力学建模 |
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| 引用本文： | 马骏,黄攀峰,孟中杰,胡仄虹.自主机动空间绳网机器人设计与动力学建模[J].宇航学报,2013,34(10):1316-1322. |
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| 作者姓名： | 马骏 黄攀峰 孟中杰 胡仄虹 |
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| 作者单位： | 1.西北工业大学航天学院智能机器人研究中心，西安 710072；
2.西北工业大学航天飞行动力学技术重点实验室，西安 710072 |
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| 基金项目： | 国家自然科学基金（11272256,61005062） |
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| 摘 要： | 设计了一种新型“平台+绳系+柔性网+自主机动单元”结构的空间机器人系统，较强的机动能力和较大的任务范围使其在空间垃圾清理任务中具有显著的优势。详细描述了自主机动空间绳网机器人的概念、任务过程和特点。为了分析自主机动空间绳网机器人逼近目标过程开始时柔性网网型的变化趋势，采用质量集中法建立了逼近过程的动力学模型，模型中将柔性网离散化为无质量弹性杆和质点的集合，同时考虑了自主控制力的作用。在不同条件下对逼近过程中的网型变化进行了数字仿真，仿真结果表明：逼近过程开始时，自主机动单元无控状态下柔性网将产生收口运动，且收口运动的强弱与自主机动单元和柔性网的初速有关；逼近轨迹也将偏离目标方向。通过自主机动单元的自主控制力能够避免收口运动和逼近方向偏移的产生。
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| 关 键 词： | 自主机动 空间绳网机器人 动力学模型 |
| 收稿时间： | 2012-12-03 |
Design and Dynamics Modeling of Autonomous Maneuvering Tethered Net Space Robot System |
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| MA Jun,HUANG Pan feng,MENG Zhong jie,HU Ze hong.Design and Dynamics Modeling of Autonomous Maneuvering Tethered Net Space Robot System[J].Journal of Astronautics,2013,34(10):1316-1322. |
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| Authors: | MA Jun HUANG Pan feng MENG Zhong jie HU Ze hong |
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| Affiliation: | 1.Research Center of Intelligent Robotics，School of Astronautics，Northwestern Polytechnical University，Xi’an 710072，China；
2.National Key Laboratory of Aerospace Flight Dynamics，Northwestern Polytechnical University，Xi’an 710072，China |
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| Abstract: | A new concept of autonomous maneuvering tethered net space robot system is presented in this paper. The autonomous maneuvering tethered net space robot system consists of platform, tether, a flexible net and several autonomous maneuvering units. The task range and maneuverability have been significantly improved. The concept, task and traits of the autonomous maneuvering tethered net space robot system are described in detail. In order to research the variation of the net formation, a lumped mass model which divides the net into finite mass points connected with springs without mass, has been established. The maneuvering control thrust has been taken into account. The digital simulations under different conditions are implemented. The simulation results show that the closing up movement will occur when the approaching phase startes, which related to the initial velocity of the net. The approaching trace will also depart from the correct trace. These adverse movements must be controlled by the autonomous maneuvering unit. |
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| Keywords: | Autonomous maneuvering Tethered net space robot system Modeling of dynamics |
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