| 基于多学科仿真模型的空间机械臂优化设计与应用 |
| |
| 引用本文： | 李大明,危清清,唐自新.基于多学科仿真模型的空间机械臂优化设计与应用[J].南京航空航天大学学报,2018,50(S1):112-117. |
| |
| 作者姓名： | 李大明 危清清 唐自新 |
| |
| 作者单位： | 1. 空间智能机器人系统技术与应用北京重点实验室, 北京, 100094;2. 北京空间飞行器总体设计部, 北京, 100094 |
| |
| 摘 要： | 空间机械臂在载人航天活动中有着迫切的应用需求。航天器尺寸、质量等因素的限制使得空间机械臂具有大柔性、操作对象多以及负载变化大的特点，给机械臂的设计验证与任务验证均带来较大挑战。详细分析了空间机械臂设计验证及任务验证对多学科仿真模型的需求，完成空间机械臂多学科仿真模型建模、修正与验证工作，将修正后的仿真模型成功应用于后续中央控制器测试，在轨任务验证及数字机械臂的开发等多个方面，解决了空间机械臂任务验证的难题。
|
| 关 键 词： | 空间机械臂 多学科 仿真模型 半物理 |
| 收稿时间： | 2018/3/23 0:00:00 |
| 修稿时间： | 2018/5/30 0:00:00 |
Optimization and Application of Space Manipulator Based on Multi-domain Simulation Models |
| |
| LI Daming,WEI Qingqing,TANG Zixin.Optimization and Application of Space Manipulator Based on Multi-domain Simulation Models[J].Journal of Nanjing University of Aeronautics & Astronautics,2018,50(S1):112-117. |
| |
| Authors: | LI Daming WEI Qingqing TANG Zixin |
| |
| Institution: | 1. Beijing Key Kaboratory of Intelligent Space Robotic Systems Technology and Applications, Beijing, 100094, China;2. Beijing Institute of Spacecraft System Engineering, Beijing, 100094, China |
| |
| Abstract: | Space manipulator has an urgent application demand in manned spaceflight activities. Due to the limitation of spacecraft size, mass and other factors, the space manipulator has the characteristics of large flexibility, many operating objects and large load variation, which brings great challenges to the design verification and mission verification of the manipulator.The paper describes the requirement of multi-domain simulation. The multi-domain simulation model of space manipulator is modeled, revised and verified. The revised simulation model is successfully applied to central controller test, on-orbit mission verification and digital manipulator development. The problem of mission verification for space manipulator is solved. |
| |
| Keywords: | space manipulator multi-domain simulation models HIL |
|
| 点击此处可从《南京航空航天大学学报》浏览原始摘要信息 |
| 点击此处可从《南京航空航天大学学报》下载免费的PDF全文 |
