空间机械臂关节动力学建模与分析的研究进展

空间机械臂的机械部分是一个由关节和臂杆等结构、机构部件组成,在空间零重力环境下运行的多体系统。关节是空间机械臂的核心部件,在机械臂动力学特性中起着重要的作用。准确全面地了解关节的动力学特性,是正确分析与模拟机械臂系统空间运动特性的关键,而建立精确的关节动力学模型,是机械臂系统设计、分析和控制的基础。文章结合空间应用的特殊性,对机械臂关节动力学建模方法的发展过程和研究成果进行了总结;并讨论了关节模型的求解算法;最后,对空间机械臂关节动力学建模与分析方面有待进一步研究的问题进行了展望。

A Literature Review on Dynamic Modeling and Analysis of the Joints in Space Manipulator

The mechanical system of space manipulator is mainly composed of joints and boom arms,and it is a multi-body system working in zero-gravity environment.Joints play a very important role in dynamic behavior of space manipulator as one of the critical components.Accurate and comprehensive understanding of the dynamic characteristics of joints is the key of the correct analysis and simulation of the kinematics of space manipulator.A precise joint model is the basis of design,analysis and control of manipulators.In this paper,a survey of the literature related to modeling of joint dynamics in space manipulators has been carried out with regard to the effects of space applications.And the researches on the algorithm solving the joint model are also discussed.Finally,the prospects of some promising aspects on joint dynamics of space manipulators are examined.