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空间站转位机构末端效应器位姿设定试验方法研究
Alternative TitleResearch on test method of position-and-pose setting of redocking manipulator end-effector of space station
张伟1,3; 白鑫林1,2; 徐志刚1,2
Department装备制造技术研究室
Source Publication机械设计
ISSN1001-2354
2018
Volume35Issue:11Pages:89-94
Indexed ByCSCD
CSCD IDCSCD:6386848
Contribution Rank1
Keyword空间站转位机构 末端效应器 并联机构 位姿设定
Abstract针对空间站转位机构末端效应器地面试验要求,提出采用并联机构实现执行器与适配器之间的六维空间位姿设定。首先,设计了6自由度并联机构,并对其机构构成和工作原理进行了阐述;其次对所设计并联机构的工作空间运动学及作动器与适配器的运动干涉特性进行了数学建模,最后,编制了基于柱坐标的机构工作空间搜索算法和基于空间几何的干涉检测算法,并运用MATLAB进行了仿真分析。仿真结果表明,所设计的并联机构其工作空间满足末端效应器位姿设定的范围要求,并联机构各分支作动器与末端效应器之间不会发生运动干涉,验证了该方法的有效性。
Other AbstractAccording to the ground-test requirements for the position-and-pose setting of redocking manipulator end-effector of space station,a method on basis of parallel mechanism is proposed for the six-dimensional spatial position-and-pose setting between the actuator and the adapter. Firstly,the 6-DOF parallel mechanism is developed,with its structure and working principle. Secondly,both the workspace kinematics of the parallel mechanism and the motion interference characteristics of the actuator and adapter are mathematically modeled. Finally,both the workspace-search algorithm based on cylindrical coordinates and the interference-detection algorithm based on space geometry are developed; the simulation analysis is carried out by means of MATLAB. The simulation results show that for the parallel mechanism,its workspace reaches the standards of the end-effector’s position-and-pose setting. There is no motion interference between the branch actuators and the end-effector,which verifies the effectiveness of the method.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/23806
Collection智能产线与系统研究室
Corresponding Author张伟
Affiliation1.中国科学院沈阳自动化研究所
2.中国科学院大学
3.中国科学院机器人与智能制造创新研究院
Recommended Citation
GB/T 7714
张伟,白鑫林,徐志刚. 空间站转位机构末端效应器位姿设定试验方法研究[J]. 机械设计,2018,35(11):89-94.
APA 张伟,白鑫林,&徐志刚.(2018).空间站转位机构末端效应器位姿设定试验方法研究.机械设计,35(11),89-94.
MLA 张伟,et al."空间站转位机构末端效应器位姿设定试验方法研究".机械设计 35.11(2018):89-94.
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