【摘要】 空间机器人由于基座可以自由运动,增加了自由度,其运动学和动力学模型比地面固定基座机器人要复杂得多,而且低轨航天器受重力梯度影响较大。首先推导了空间机器人的运动学方程,并采用拉格朗日方程建立了正动力学模型,然后基于牛顿-欧拉法推导了空间机器人的耦合动力学方程,给出了动力学非线性项的数值计算方法,还推导了空间机器人在轨运动时的重力梯度力矩。最后,针对一类串联旋转关节的空间机器人,采用模块化设计的思想建立了动力学仿真模型,利用所建仿真模型对空间机器人的操作任务进行数值仿真,分析了重力梯度力矩的影响,提出了减小这些影响的建议。更多还原

【Abstract】 The kinematical and dynamic models of space robot are more complex than fixed-base robot on ground because the free-floating base increases the system’s degrees of freedom,and the space robot in low orbit was significantly affected by Gravity Gradient Torque.Firstly,the dynamic equations were derived based on the Lagrange equation.Then the coupling dynamics was deduced with the Newton-Euler Equation.The numerical computing method of the nonlinear part of the dynamic equations was introduced in detail,and the gravity gradient torque of the space robot was derived at the same time.Finally,the modularized space robot simulation system with rotary joints in series was established with these equations,and the influence of the gravity gradient torque was given by the simulation.Suggestions for decreasing the influence were presented as well.更多还原