机械臂多力场耦合仿真研究

发布时间：2018-05-26 21:21

本文选题：空间机械臂 + 运动学　；参考：《北京理工大学》2015年硕士论文

【摘要】：随着空间技术的发展,空间机械臂的应用越来越广泛,空间机械臂在空间活动中发挥着不可替代的作用,可以代替航天员完成安装装配、设备维修、设备回收等任务。空间机械臂在发射进入太空实际应用之前,需要在地面完成大量验证实验,因此,需要搭建地面微重力模拟实验系统对空间机械臂进行测试。本文以月球车采样器机械臂为研究对象,研究机械臂在地面模拟实验系统复合力场环境下的力学特性,为建立评价地面微重力模拟实验准确性的系统化方法奠定基础。总结国内外机械臂研究发展现状,确定采样器机械臂地面微重力模拟实验方法。提出基于平衡梁结构的机械臂地面微重力实验系统。基于机器人D-H法对机械臂模型建立数学模型,求解机械臂的运动学方程,对悬吊点的进行了运动分析,确定微重力实验系统方案可行。基于拉格朗日方法对机械臂进行动力学建模,求解机械臂在重力场、空间零重力环境以及复合力场下的动力学方程,运用MATLAB软件计算求解机械臂各关节作用力矩情况。建立MATLAB与ADAMS联合仿真系统,运用SolidWorks软件建立机械臂的简化模型,导入ADAMS软件中建立机械臂机械系统部分。通过ADAMS/Control插件将机械系统导入MATLAB/Simulink中,实现控制系统与机械系统交互式仿真。分别在重力场环境、空间零重力环境以及复合力场环境下进行机械臂动力学仿真,对比仿真结果与数学模型计算结果,分析该微重力模拟实验系统所建立的复合力场对机械臂动力学特性的影响。
[Abstract]:With the development of space technology, the application of space manipulator is more and more extensive. Space manipulator plays an irreplaceable role in space activities. It can replace astronauts to complete installation and assembly, equipment maintenance, equipment recovery and other tasks. Before the space manipulator is launched into space, a large number of verification experiments need to be completed on the ground. Therefore, it is necessary to set up a ground microgravity simulation experiment system to test the space manipulator. In this paper, the mechanical properties of the lunar rover sampler manipulator under the compound force field environment of the ground simulation experiment system are studied, which lays the foundation for establishing a systematic method to evaluate the accuracy of the ground microgravity simulation experiment. This paper summarizes the present situation of the research and development of the manipulator at home and abroad, and determines the experimental method of microgravity simulation on the ground of the robotic arm of the sampler. A mechanical arm ground microgravity experimental system based on balanced beam structure is proposed. Based on the D-H method of the robot, the mathematical model of the manipulator is established, and the kinematics equation of the manipulator is solved. The kinematic analysis of the suspension point is carried out, and the scheme of the microgravity experimental system is determined to be feasible. Based on the Lagrangian method, the dynamic equations of the manipulator in gravity field, zero gravity environment and composite force field are solved, and the moment of each joint of the manipulator is calculated by MATLAB software. The joint simulation system of MATLAB and ADAMS is established, the simplified model of manipulator is established by SolidWorks software, and the part of mechanical system of manipulator is established by importing ADAMS software. The mechanical system is imported into MATLAB/Simulink through ADAMS/Control plug-in, and the interactive simulation between control system and mechanical system is realized. The dynamic simulation of manipulator is carried out in gravity field environment, space zero gravity environment and composite force field environment respectively. The simulation results are compared with those of mathematical model. The effect of the composite force field established by the microgravity simulation system on the dynamic characteristics of the manipulator is analyzed.
【学位授予单位】：北京理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP241;V476.3

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