摘要
研制空间绳网机器人的张力控制机构样机.论证绳网机器人捕获目标物后从两分散刚体镇定成一个稳定复合体过程中可能出现的冲击、摆动和振动等问题.借鉴钓鱼过程中通过弹性钓杆和线盘组合保证提供合理的张力,说明张力控制机构及控制技术是空间绳网机器人捕获目标物的关键技术之一,通过张力控制配合绳网机器人系统总体运动规划和控制策略是有效解决上述问题的唯一途径.提出系绳张力机构必须具有系绳入角姿态可测、绳长可测和系绳张力可控可测等功能要求.开展高精度的张力控制机构设计工作,对研制的样机进行单机测试和地面防冲击缓冲释放实验.测试和实验结果反映张力控制机构样机具有很好的操作性,能够较好地满足地面试验要求.
The prototype of tension control mechanism for space tethered-net robot was developed.The possible impact,swing and vibration problems during the system stabilized from two decentralized rigid bodies to a stable combination were emphatically demonstrated.The tension control mechanism and its control strategy is one of the key technologies,and the only way to solve the problem is the coordination of tension control and the whole motion planning which is inspired from providing reasonable tension by the coordination of fishing rod and reel.The tension control mechanism should be with the measurement of attitude angles,the measurement of the length of tether,the regulation and measurement of tether tension in order to fulfill the control requirements.A design scheme of tension control mechanism with high precision was proposed.The single machine test and anti-impact buffering release experiment were conducted.Results show that the tension control mechanism has good operability and can fulfill the requirements of experiments on the ground.
出处
《浙江大学学报（工学版）》
EI
CAS
CSCD
北大核心
2015年第10期1974-1981,共8页
Journal of Zhejiang University：Engineering Science
基金
国家自然科学基金资助项目(51475411)
国家"863"高技术研究发展计划资助项目(2013AA7044026)
关键词
绳网机器人
系绳张力控制机构
单机测试
防冲击
tethered-net robot
tether tension control mechanism
single machine test experiment
anti-impact
