摘要
就三臂空间机器人的一臂与航天器固抓、一臂操作、第三臂作平衡协调操作的问题进行了理论研究 ,取得了在线动量和角动量守衡意义上的平衡操作结论 .对一个在气浮平台上运动的简单的三臂空间机器人的实例进行了仿真计算 ,证明该方法是可行的 .
The balance problem of a three arm space robot has been discussed during its manipulation. The first arm of the space robot is used to keep connection with the spacecraft (shuttle or space station), the second arm to balances the whole system, and the third arm to manipulate a job. The linear momentum and angular momentum equations and an optimization function have been advanced. An optimization solution of the angles and the angular velocities of those joints of the second arm (the balance arm) according to conservation of the linear momentum and angle momentum of all system have been gotten respectively. One example of a simple three arm space robot on an air bearing table has been simulated and the results simulated have been given out with two pictures.
出处
《北京邮电大学学报》
EI
CAS
CSCD
北大核心
2002年第1期34-38,共5页
Journal of Beijing University of Posts and Telecommunications
关键词
三臂空间机器人
平衡
协调操作
robots
three arm space robot
balances
manipulation
