| 基于空间机械臂的柔顺抓捕技术研究综述 |
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| 引用本文： | 汤奇荣,黎杰,张凌楷,赵庆岩,李宁,邹怀武.基于空间机械臂的柔顺抓捕技术研究综述[J].上海航天,2019,36(3):110-118. |
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| 作者姓名： | 汤奇荣 黎杰 张凌楷 赵庆岩 李宁 邹怀武 |
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| 作者单位： | 同济大学机械与能源工程学院机器人技术与多体系统实验室;上海宇航系统工程研究所 |
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| 基金项目： | 国家自然科学基金(61603277,61873192)；“十三五”装备预研共用技术重点项目(41412050101)；上海航天科技创新基金(SAST2016017) |
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| 摘 要： | 空间机械臂是广泛应用于空间探索与实验的重要机电设备,柔顺抓捕技术为其执行主要任务的基础。空间机械臂柔顺抓捕技术主要分为结构设计与控制方法两个方面。首先介绍了目前已成功应用的空间机械臂末端执行器系统,分析了其结构与抓捕原理特点,说明了相应优势与不足,并给出结构优化的合理建议。然后介绍柔顺抓捕的控制方法在空间任务以及部分非空间任务中的成功应用,比较了其特性与优劣,归纳出优化的空间机械臂柔顺抓捕控制策略。本研究期望为空间机械臂柔顺抓捕技术的研究提供思路。
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| 关 键 词： | 空间机械臂 末端执行器 柔顺控制 目标抓捕 |
| 收稿时间： | 2018/9/28 0:00:00 |
| 修稿时间： | 2018/12/25 0:00:00 |
Review of Compliant Capture with Space Manipulator |
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| TANG Qirong,LI Jie,ZHANG Lingkai,ZHAO Qingyan,LI Ning and ZOU Huaiwu.Review of Compliant Capture with Space Manipulator[J].Aerospace Shanghai,2019,36(3):110-118. |
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| Authors: | TANG Qirong LI Jie ZHANG Lingkai ZHAO Qingyan LI Ning and ZOU Huaiwu |
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| Institution: | Laboratory of Robotics and Multibody System, School of Mechanical Engineering, Tongji University,Shanghai 201804, China,Laboratory of Robotics and Multibody System, School of Mechanical Engineering, Tongji University,Shanghai 201804, China,Laboratory of Robotics and Multibody System, School of Mechanical Engineering, Tongji University,Shanghai 201804, China,Laboratory of Robotics and Multibody System, School of Mechanical Engineering, Tongji University,Shanghai 201804, China,Shanghai Institute of Aerospace System Engineering, Shanghai 201109, China and Shanghai Institute of Aerospace System Engineering, Shanghai 201109, China |
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| Abstract: | The space manipulator is widely used in space exploration and experiments. The compliant capture technologies lay the foundation for executing main space tasks. The structure design and the method of control are two main aspects of complaint capture. The first part of this paper focuses on end-effectors applied successfully in space missions, and theories of capture are introduced. The advantages and problems of the applied space manipulator systems are analyzed respectively and some reasonable proposals are given. The next part of this paper introduces the methods of compliant capture applied in space and other fields, and the optimized control method is concluded. It is expected to provide ideas for the research of compliant capture technologies for the space manipulator. |
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| Keywords: | space manipulator end-effector compliant control target capturing |
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