Please wait a minute...
 首页  期刊介绍 期刊订阅 联系我们 横山亮次奖 百年刊庆
 
最新录用  |  预出版  |  当期目录  |  过刊浏览  |  阅读排行  |  下载排行  |  引用排行  |  横山亮次奖  |  百年刊庆
清华大学学报(自然科学版)  2019, Vol. 59 Issue (10): 831-837    DOI: 10.16511/j.cnki.qhdxxb.2019.26.024
  机械工程 本期目录 | 过刊浏览 | 高级检索 |
基于摩擦力的机械臂零重力系统卸载性能
田斯慧1, 唐晓强1,2, 代海林3, 李煜琦1
1. 清华大学 机械工程系, 北京 100084;
2. 清华大学 摩擦学国家重点实验室, 精密超精密制造装备及控制北京市重点实验室, 北京 100084;
3. 北京卫星环境工程研究所, 北京 100094
Unloading ratio of a zero-g simulation system based on the friction of a space manipulator
TIAN Sihui1, TANG Xiaoqiang1,2, DAI Hailin3, LI Yuqi1
1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China;
2. Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipments and Control, State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China;
3. Beijing Institute of Spacecraft Environment Engineering, Beijing 100094, China
全文: PDF(7140 KB)  
输出: BibTeX | EndNote (RIS)      
摘要 空间机械臂在地面零重力系统进行模拟实验前,需先用装有传感器的模拟机械臂对模拟系统的卸载性能进行评定,以保证系统工作时的可靠性。该文首先建立了一个七关节机械臂在地面零重力系统中的动力学模型,计算了各关节扭矩,并以扭矩作为模拟系统卸载性能的评价指标。接着采用连续性摩擦模型对系统进行摩擦力参数辨识,通过实验结果反推出系统的摩擦力特性,并对关节扭矩进行修正。修正后的计算扭矩更接近实验值,保证了理论建模的准确性。该模型可以预测出未安装传感器的空间机械臂在模拟系统中运行时的力学参数,保证实验的安全。
服务
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章
田斯慧
唐晓强
代海林
李煜琦
关键词 空间机械臂零重力模拟系统关节扭矩摩擦力    
Abstract:Space manipulators need to pass tests in zero-g simulation systems before being used in orbit. The unloading ratio of zero-g simulation systems was evaluated here using a simulation manipulator with force and torque sensors. A dynamic model of a seven-joint manipulator was then developed for operation in a zero-g environment. The joint torques were calculated and used as the evaluation index. A continuous friction model was used to identify the friction parameters for the system with the friction characteristics then modified so that the predicted torques matched the experimental data. The results show that the theoretical model can accurately predict the torques and the space manipulator model parameters without sensors when operating in a zero-g environment to guarantee the safety of the experiments.
Key wordsspace manipulator    zero-g simulation system    joint torques    friction
收稿日期: 2019-03-07      出版日期: 2019-10-14
基金资助:国家自然科学基金资助项目(91648107);北京市自然科学基金资助项目(L182041)
通讯作者: 唐晓强,教授,E-mail:tang-xq@tsinghua.edu.cn     E-mail: tang-xq@tsinghua.edu.cn
引用本文:   
田斯慧, 唐晓强, 代海林, 李煜琦. 基于摩擦力的机械臂零重力系统卸载性能[J]. 清华大学学报(自然科学版), 2019, 59(10): 831-837.
TIAN Sihui, TANG Xiaoqiang, DAI Hailin, LI Yuqi. Unloading ratio of a zero-g simulation system based on the friction of a space manipulator. Journal of Tsinghua University(Science and Technology), 2019, 59(10): 831-837.
链接本文:  
http://jst.tsinghuajournals.com/CN/10.16511/j.cnki.qhdxxb.2019.26.024  或          http://jst.tsinghuajournals.com/CN/Y2019/V59/I10/831
  图1 零重力模拟系统
  图2 动力学建模关节
  图3 (网络版彩图)关节运动时序
  图4 (网络版彩图)关节实验扭矩与计算扭矩曲线
  图5 (网络版彩图)连续性的摩擦模型
  图6 (网络版彩图)关节1扭矩与关节运动角度(80~180s )
  图7 关节扭矩的摩擦力修正
  图8 悬挂单元力学模型
  图9 机械臂及零重力模拟装置实物与模型
  图1 0 (网络版彩图)关节实验扭矩与计算扭矩曲线
  图11 关节平均扭矩误差
[1] FLORES-ABAD A, MA O, PHAM K, et al. A review of space robotics technologies for on-orbit servicing[J]. Progress in Aerospace Sciences, 2014, 68:1-26.
[2] ELLERY A, KREISEL J, SOMMER B. The case for robotic on-orbit servicing of spacecraft:Spacecraft reliability is a myth[J]. Acta Astronautica, 2008, 63(5-6):632-648.
[3] MURAD MUSA A S. Modeling and control of a free-flying space robot interacting with a target satellite[D]. Montreal, Canada:Concordia University, 2005:15-16.
[4] 于登云, 孙京, 马兴瑞. 空间机械臂技术及发展建议[J]. 航天器工程, 2007, 16(4):1-8.YU D Y, SUN J, MA X R. Suggestion on development of Chinese space manipulator technology[J]. Spacecraft Engineering, 2007, 16(4):1-8. (in Chinese)
[5] FUJⅡ H, YONEOKA H, UCHIYAMA K. Experiments on cooperative motion of a space robot[C]//Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'93).Yokohama, Japan:IEEE, 1993.
[6] 徐文福, 梁斌, 李成, 等. 空间机器人微重力模拟实验系统研究综述[J]. 机器人, 2009, 31(1):88-96. XU W F, LIANG B, LI C, et al. A review on simulated micro-gravity experiment systems of space robot[J]. Robot, 2009, 31(1):88-96. (in Chinese)
[7] SATO Y, EJIRI A, ⅡDA Y, et al. Micro-G emulation system using constant-tension suspension for a space manipulator[C]//IEEE International Conference on Robotics and Automation. Sacramento, USA:IEEE, 1991:1893-1900.
[8] 高吾益. 吊丝主动重力补偿系统设计与研究[D]. 哈尔滨:哈尔滨工程大学, 2010.GAO W Y. Design and research on active gravity compensation system of hanging silk[D]. Harbin:Harbin Engineering University, 2010. (in Chinese)
[9] 李煜琦, 邵珠峰, 田斯慧, 等. 基于吊丝配重的空间机械臂零重力模拟装置卸载率分析及评价[J]. 机器人, 2016, 38(3):293-300.LI Y Q, SHAO Z F, TIAN S H, et al. Analysis and evaluation on unloading ratio of zero-g simulation device of space manipulator based on suspension system[J]. Robot, 2016, 38(3):293-300. (in Chinese)
[10] 樊世超, 丁文镜, 陆明万. 摩擦对机械臂运动的影响[J]. 工程力学, 2002, 19(2):64-67, 82.FAN S C, DING W J, LU M W. Effects of friction on the motion of a manipulator[J]. Engineering Mechanics, 2002, 19(2):64-67, 82. (in Chinese)
[11] 陶润, 侯之超. 受径向力滚动轴承摩擦力矩的测试和函数拟合[J]. 清华大学学报(自然科学版), 2014, 54(6):744-749.TAO R, HOU Z C. Measurement and curve fitting of the friction torque of rolling bearings subjected to radial loads[J]. Journal of Tsinghua University (Science and Technology), 2014, 54(6):744-749. (in Chinese)
[12] MAKKAR C, DIXON W E, SAWYER W G, et al. A new continuously differentiable friction model for control systems design[C]//Proceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Monterey, USA:IEEE, 2005.
[13] UICKER J J, DENAVIT J, HARTENBERG R S. An iterative method for the displacement analysis of spatial mechanisms[J]. Journal of Applied Mechanics, 1964, 31(2):309-314.
[14] 刘振, 高海波, 邓宗全,等. 摇臂转向架式星球车单索重力补偿[J]. 机械工程学报, 2013, 49(7):113-124.LIU Z, GAO H B, DENG Z Q, et al. Gravity compensation for rocker-bogie rovers through single string tension[J]. Journal of Mechanical Engineering, 2013, 49(7):113-124. (in Chinese)
[1] 陶润,侯之超. 受径向力滚动轴承摩擦力矩的测试和函数拟合[J]. 清华大学学报(自然科学版), 2014, 54(6): 744-749.
Viewed
Full text


Abstract

Cited

  Shared   
  Discussed   
版权所有 © 《清华大学学报(自然科学版)》编辑部
本系统由北京玛格泰克科技发展有限公司设计开发 技术支持:support@magtech.com.cn