空间机械臂系统总体技术指标确定方法

总体技术指标的确定是空间机械臂总体设计中的关键，基于此，文章提出了一种空间机械臂总体技术指标确定方法，并进行动力学仿真研究。首先从任务目标出发，结合总体约束条件，对空间机械臂的长度、末端位姿精度、末端最大运动速度、关节驱动力矩等技术指标进行论证；然后建立系统的多体动力学模型，对常规工况和极限工况下空间机械臂的带载操作过程进行动力学仿真，以验证所确定的总体技术指标。仿真结果表明，所提出的思路和方法对于空间机械臂的设计和研制具有一定参考作用。

Determination Method of Overall Technology Index for Space Manipulator

The determination of the overall technology index is a key to the overall design of space manipulator. An overall performance indexes determination method of a space manipulator were presented. The dynamic simulation study was also performed. Firstly, considering the mission objectives and combining with the overall constraints, the main technology indexes, including manipulator length, end-effector positing and orientating accuracies, the maximum end-effector velocities, and joint drive torques, and so on, were demonstrated. Secondly, the multi-body dynamic model of a space robotic system was created. Based on this model, the manipulation process of the space robot carrying a payload under normal and extreme conditions was simulated. Simulation results show that the proposed ideas and methods are very useful for the development of the space robot system.