计及关节及杆柔性空间机械臂抓取控制_张元.pdfVIP

43 2 Vol.43 No . 2 2011 4 Journal of N anjing U niversity of Aeronautics Astronautics Apr . 2011 1 2 2 2 张　元　赵志刚　李　娜　魏　承 ( 1. , , 1 0080; 2. , , 1 0001) : 针对考虑关节及杆柔性的空间机械臂动力学与抓取控制问题, 以三连杆柔性机械臂为研 对象, 考虑臂杆 的横向弯曲变形、纵向拉伸变形及由于横向变形引起的轴向收缩的二阶耦合量等, 并通过引用转子扭簧模型来 考虑柔性关节的影响, 应用Lagrange 方程和假设模态法建立动力学模型。引入 “动态抓取域”来描述机械臂的抓 取过程, 采用关节主动阻尼控制来抑制抓取过程中的碰撞激振力, 分析了匀速抓取和加速抓取两种策略的机械 臂柔性关节的变形特性。仿真结果表明: 关节柔性减小了整体碰撞力, 在碰撞过程中起到 一定的缓冲作用; 加速 抓取控制下比匀速抓取控制下的关节变形小, 前者整体优于后者。 : 空间机械臂; 动力学模型; 柔性关节; 柔性杆; 抓取控制 : V476. :A : 100 -261 (2011) 02-0210-06 Space Manipulator Grasping Control with Flexible Link and Flexible Joint 1 2 2 2 Zhang Yuan , Zhao Zhig ang , L i N a , We i Cheng ( 1. , , , 1 0080, ; School of Mechanical Pow er Engineering Harbin University of Science and Technology Harbin China 2. School of Astronautics, Harbin Inst itute of T echnology , Harbin, 1 0001, China) Abstract To solve the problem of dynamics and grasping control on manipulator w ith flexible link and: flexible joint, the planar rotating motion of a three-link flexible manipulator is taken as target, w ith the full consideration of transverse bending deformation, longitudinal tensile deformation and tw o-order . - coupling term of axial shrinkage induced by lateral deformation T he rotor torsion spring model is intro- duced to analyze the influence caused by flexible joints. T