摘要: |
针对传统基于控制系统的空间机械臂的运动轨迹设计及其抓捕动力学仿真等正向分析的控制方程建模和解算过程复杂、设计周期长的问题,基于CATIA模型运动轨迹规划,提出了一种用于航天器抓捕目标的七自由度机械臂ADAMS仿真分析方法,通过该方法,能够快速获得空间飞行器在机械臂抓捕和释放过程中的扰动姿态以及机械臂各个关节受力情况,为初期方案的设计和选型提供参考。 |
关键词: 机械臂;动力学;分析方法 |
基金项目: |
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Dynamic Analysis Method for 7 DOF Space Manipulator |
Zhou Xiaoli Chen Yongqiang Mu Xingke Tan Jue
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Research and Development Center, China Academy of Launch Vehicle Technology
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Abstract: |
As the traditional method to plan the trajectory of the space manipulator is based on the control system, it’s too complicate to build the control equations and solve them. In this paper, an ADAMS simulation method which based on the CATIA model trajectory planning is proposed. It can be used for the 7 DOF space manipulator to capture a target. By using this method, the disturbance and the force of each joint suffered can be obtained quickly during the capture and release?process. It provides reference to the original design of the space manipulator. |
Key words: manipulator;dynamics;analysis method |