摘要
基于单马达驱动空间机械臂XN-600-1的结构特点,对比其他空间机械臂的设计,参考并行单马达驱动机器人的离合器分析方法,建立了低速重载离合器调速的数学模型。根据离合器调速模型,在理论上分析了离合器平均输出速度与两个控制参数之间的关系,并通过XN-600-1的连续轨迹跟踪仿真,分析了基于离合器调速模型的仿真轨迹与期望轨迹之间误差。最后,通过一个半圆圆弧轨迹跟踪试验,验证了在小范围运动的条件下该调速模型的正确性,并为轨迹误差补偿提出了改进方案。
Based on the features of space manipulator driven by single motor named as XN-600-1,in comparison with other designs about space manipulator,and with reference to the clutch model of parallel robot driven by single motor designed by Dr.Karbasi,a clutch model for joint control system with high load and low speed is established to study the relation between clutch average velocity and the two control parameters.According to some continuous trajectory simulations,it is analyzed the causes of the error which is between the simulating trajectory based on the clutch model and the expected trajectory.Finally,the clutch model is verified through an experiment that the end of manipulator runs along a space half circle trajectory in small range,and the advanced compensation methods are proposed.
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2010年第4期962-966,共5页
Journal of Astronautics
基金
CAST创新基金项目(CAST200625)
关键词
单马达驱动
空间机械臂
多关节
离合器模型
调速
Single motor driven
Space manipulator
Multi-joint
The clutch model
Speed control
