基于等效质量的太空机械臂多体系统碰撞分析

从等效质量角度出发，针对不同的操作环境，提出多体系统离散碰撞动力学建模及连续碰撞动力学建模方法，并分析碰撞对系统造成的影响。首先，由系统动力学方程及能量方程推导出太空机械臂末端等效质量，在此基础上，针对刚/柔环境，分别建立多体系统离散碰撞动力学模型和连续碰撞动力学模型，并针对七种连续碰撞模型提出选取标准，以便更真实地模拟实际碰撞过程。最后，以典型的太空七自由度机械臂为例开展仿真试验，两种方法的对比结果校验了该算法的正确性。

Collision Analysis of Space Manipulator Multi Body System Based on Equivalent Mass

Based on the equivalent mass concept, two methods for building the discrete collision dynamics model and the continuous collision dynamics model for different operating environments are proposed, and the collision effects are also analyzed. First, equivalent mass is derived from the dynamics equation and the energy equation. On this basis, both discrete collision dynamics model and continuous collision dynamics model are built for rigid and flexible environment respectively. Thereafter, a standard is also proposed to choose one model which can simulate the actual collision process more precisely among seven continuous models. Finally, taking the typical 7-dof space manipulator as an example to carry out simulation experiment, the comparison of two methods′ results verifies the correctness.