北京航空航天大学学报 ›› 2002, Vol. 28 ›› Issue (6): 613-616.

• 论文 • 上一篇    下一篇

自由漂浮空间机器人的运动学分析及仿真

任敬轶1, 孙汉旭2   

  1. 1. 北京航空航天大学 机械工程及自动化学院;
    2. 北京邮电大学 自动化学院
  • 收稿日期:2001-03-29 出版日期:2002-06-30 发布日期:2010-09-25
  • 作者简介:任敬轶(1972-),男,辽宁沈阳人,博士生,100083,北京.

Kinematics Analysis and Simulation of Free-Floating Space Robot

REN Jing-yi1, SUN Han-xu2   

  1. 1. Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation;
    2. Beijing University of Posts and Telecommunications, School of Automation
  • Received:2001-03-29 Online:2002-06-30 Published:2010-09-25

摘要: 自由漂浮空间机器人与地面机器人最大的区别是其末端执行器的运动不仅仅和各个关节的运动有关,而且与各个连杆、基座的质量分布及其运动轨迹紧密相关.因此,自由漂浮空间机器人的运动学与其动力学是密不可分的.运用螺旋理论、动量守恒定律对这样的机器人系统进行分析,得到了包含系统质量在内的运动雅可比矩阵,并给出了系统运动的图形仿真结果.

Abstract: The movement of the end-effector of free-floating space robot is related to not only the movement of each joint, but also the trajectory and the mass distribution of each link. This is the most distinct difference between free-floating space robot and terrestrial robot. Thus, the kinematics of free-floating space robot is closely connected with its dynamics. Screw theory and linear and angular momentum conservation were used to analyze free-floating space robot system. A general jacobian was derived, which includes the system's mass. On the above basis, a movement simulation of free-floating space robot was given.

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