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太空转位机械臂刚性特征研究
Alternative TitleResearch on Rigid Characteristics of Space Manipulator
杨原青1,2,3; 徐志刚2,3; 王军义2; 白鑫林2; 张伟2,4
Department智能产线与系统研究室
Source Publication兵器装备工程学报
ISSN2096-2304
2019
Volume40Issue:5Pages:94-98
Contribution Rank1
Keyword太空机械臂 机械臂刚性 全物理方法 超大转动惯量 动力学分析 静力学分析
Abstract提出了一种全物理的实验方法,实验时太空机械臂在其关节处电机的驱动下转动,气浮机构提供微重力环境,而模拟实验舱的质量块在中间连接梁的带领下跟随太空转位机械臂进行运动,从而模拟机械臂的转动惯量。通过对全物理模型进行动力学建模,得到各个关节处所受的力和力矩,并对机械臂进行结构分析,变形为0. 13 mm,即空间转位机械臂的刚性满足设计要求,能够承受太空转位时的力和转动惯量。
Other AbstractA full physical experiment method was proposed. The space manipulator was rotated in its own driving under microgravity environment provided by air flotation mechanism, in the same time simulation experiment module mass follow the space manipulator transposition exercise which connected by the middle beam,through this act it’s simulated the inertia. Through the dynamic modeling of the whole experiment, we got the force and torque of each joint and had the analysis of the structure to be 0. 13 mm show that the manipulator’s stiffness meets the design requirements,and also proves the effectiveness of full physical method.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24703
Collection智能产线与系统研究室
Corresponding Author杨原青
Affiliation1.东北大学机械工程与自动化学院
2.中国科学院沈阳自动化研究所
3.中国科学院机器人与智能制造创新研究院
4.中国科学院大学
Recommended Citation
GB/T 7714
杨原青,徐志刚,王军义,等. 太空转位机械臂刚性特征研究[J]. 兵器装备工程学报,2019,40(5):94-98.
APA 杨原青,徐志刚,王军义,白鑫林,&张伟.(2019).太空转位机械臂刚性特征研究.兵器装备工程学报,40(5),94-98.
MLA 杨原青,et al."太空转位机械臂刚性特征研究".兵器装备工程学报 40.5(2019):94-98.
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