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| 有外力作用的多臂自由飞行空间机器人协调操作动力学特性 | |
| 引用本文： | 袁景阳,柳长安,李瑰贤. 有外力作用的多臂自由飞行空间机器人协调操作动力学特性[J]. 宇航学报, 2006, 27(3): 541-545 |
| 作者姓名： | 袁景阳 柳长安 李瑰贤 |
| 作者单位： | 1. 哈尔滨工业大学机电工程学院,哈尔滨,150001 2. 华北电力大学计算机学院,北京,102206 |
| 摘 要： | 利用牛顿-欧拉方法分析了有外力作用时多臂自由飞行空间机器人协调操作的动力学特性。首先推导出多臂自由飞行空间机器人协调操作的机械臂关节驱动力矩和关节角速度及角加速度间的关系，其次建立了多臂自由飞行空间机器人系统的动力学方程和动力学计算模型，经仿真分析得到了在不同外力作用下多臂自由飞行空间机器人的本体的位置干扰规律，验证了有外力作用下的多臂自由飞行空间机器人的动力学特性。 |
| 关 键 词： | 自由飞行空间机器人 协调操作 动力学特性 位置干扰 |
| 文章编号： | 1000-1328（2006）03-0541-05 |
| 收稿时间： | 2005-10-10 |
| 修稿时间： | 2005-10-102006-03-06 |
Dynamics Characters of Coordinated Manipulation for Multi-arms Free Flying Space Robot with External Force Acting on |
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| YUAN Jing-yang,LIU Chang-an,LI Gui-xian. Dynamics Characters of Coordinated Manipulation for Multi-arms Free Flying Space Robot with External Force Acting on[J]. Journal of Astronautics, 2006, 27(3): 541-545 | |
| Authors: | YUAN Jing-yang LIU Chang-an LI Gui-xian |
| Affiliation: | 1. School of Mech. and Elee. Eng, Harbin Institute of Technology, Harbin. 150001, China; 2. School of Computer Science and Technology, North China Electric Power University, Beijing 102206, China |
| Abstract: | In this paper,the dynamic character of multi-arm free-flying space robot (FFSR) coordination with external force acting was analyzed in the approach of Newton-Euler.First,the relation among joints' driving torque,their angular velocity and angular acceleration of FFSR was deduced.Second,the dynamic equations and model multi-arm coordinated FFSR was constructed.The disturbing law of its bodies caused by external force were obtained by different external force through dynamic simulation analysis,the dynamics characters of multi-arms coordinated FFSR with external force were validated. |
| Keywords: | Free-flying space robot Coordinated operating Dynamics characters Position disturbance |
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