摘要
针对空间机械臂辅助对接任务中的复杂关节力矩控制问题,建立了含间隙、非线性刚度及啮合阻尼的多级行星齿轮传动复杂关节精细动力学模型,该模型不仅考虑了齿轮啮合刚度,而且考虑了齿轮轴的扭转刚度。提出了一种基于关节动态扭转变形的关节力矩测量方法,并以此建立关节力矩控制系统,利用Runge-Kutta算法对关节精细动力学模型进行了数值计算。计算结果表明,此关节力矩控制方法约有1.7%的稳态误差,能满足关节力矩控制的需要;基于关节动态扭转变形的关节力矩测量方法有效地解决了提高关节力矩测量精度与保持传感器刚度之间的矛盾。
Joint torque control system plays a key role in the space manipulator assisted docking mission for a spacecraft. A detailed joint dynamics model including joint clearance, non-linear stiffness and joint damp, is established in this paper. Both Gear meshing stiffness and gear axle torsional stiffness are considered in the non-linear stiffness. A new method for measuring the joint torque is proposed, then, a joint torque control system is established in this paper, and the equations are solved numerically by using Runge-Kutta method. The results show that the joint torque control system is effective. The new method for measuring the joint torque can solve the conflict between the measurement accuracy and the sensor＇ s stiffness effectively.
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2014年第6期663-668,共6页
Journal of Astronautics
