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
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.
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.
[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)