摘要
针对空间站宏微机械臂分时独立控制的操作方式,将宏机械臂视为柔性基座,建立了柔性宏刚性微机械臂的等效动力学模型,即柔性基座微机械臂动力学模型。此模型揭示了基座弹性振动与微机械臂刚性运动之间的耦合关系,即基座的受迫振动完全由微机械臂运动产生的反作用力引起。在此基础上,为降低微机械臂刚性运动激起的宏机械臂弹性振动,建立了“4-3-4”形式的参数化关节轨迹模型,采用遗传算法在关节空间对微机械臂的运动轨迹进行了优化,并利用机械臂的冗余特性对其自运动进行了优化。数值仿真表明:轨迹规划和优化自运动项的方法能有效抑制微机械臂在运动过程中对柔性基座激起的弹性振动。
For the operating mode of time-separating and independent control of macro-micro manipulator systems installed on space station, the paper regards the macro manipulator as a flexible base, and establishes the equivalent dynamic model of flexible-macro/rigid-micro mani pulator systems, i.e. Flexible Structure Mounted Manipulator Systems(FSMS). Based on the mo del, the coupling effect between the elastic vibration of the base and the rigid motion of the micro manipulator is that the forced vibration of the base is entirely caused by the reaction force generated by the motion of the micro part. In order to decrease the elastic vibration of the macro part excited by the rigid motion of the micro part, the paper proposes a parametric ‘4-3-4’ planning method in joint space based on genetic algorithm to plan trajectory for the micro part. The genetic algorithm is also employed to optimize the self-motion according to redundant characteristic of micro manipulator. The simulation results show that the method of trajectory planning and optimizing the self-motion can effectively suppress the vibration of flexible base excited by the motion of the micro part.
作者
尹旺
王翔
YIN Wang;WANG Xiang(Beijing Institute of Spacecraft System Engineering,Beijing 100094,China)
出处
《航天器工程》
CSCD
北大核心
2022年第2期85-91,共7页
Spacecraft Engineering
基金
中国空间技术研究院杰出青年人才基金。
关键词
宏微机械臂
轨迹规划
振动抑制
自运动优化
macro-micro manipulator
trajectory planning
vibration control
self-motion optimization
