一类柔性宏刚性微空间机器人广义动力学高效率建模研究

研究了一类柔性宏刚性微空间机器人广义高效递推动力学建模算法。介绍了利用空间算子代数进行对刚柔混合欠驱动系统的描述方法。根据系统中铰链的驱动情况分别对铰链定义为主动铰和被动铰,通过铰链的类型以及判断是刚性体或者柔性体,分别按照两次从系统的顶端到基座的顺序、一次从基座到顶端的顺序进行了系统铰接体惯量的递推、系统冗余力的递推、广义加速度和广义主动力的递推。通过上述三种方式的递推过程建立了柔性宏刚性微空间机器人广义递推动力学模型,实现了高效率O(n)次的计算效率。最后通过软件仿真验证了本研究内容的正确性和高效性。

Research on Generalized Efficient Recursive Dynamics of Flexible Macro-Micro Space Robots System

The generalized efficient recursive dynamics model of a kind of flexible macro-micro space robots system was built. The method of describing the under-actuated rigid-flexible multibody system based on Spatial Operator Algebra (SOA) theory was proposed. The generalized flexible multibody was described in according to the type of the joint (active or passive), and the rigid body or the flexible body; then the generalized articulated inertia-matrix, the residual forces and the generalized acceleration and torque were computed through twice tip-to-base recursive and once base-to-tip recursive; at last the O(n) generalized dynamic was gained. Simulations results show that the dynamic modeling and fast integration techniques proposed in this paper are very useful.