【作者】 王岩；

【导师】 赵京东；

【作者基本信息】 哈尔滨工业大学 ， 机械工程（专业学位）， 2018， 硕士

【摘要】 伴随着空间机器人技术的迅速发展,空间站机械臂已经能够以较高的灵活性辅助甚至代替航天员去执行一些精密的、复杂的、危险的任务,大大降低了航天员出舱执行任务的风险,减轻了航天员的工作压力,提高了太空探索活动的效率。然而,随着空间机械臂的在轨任务越来越复杂,其工作任务难以完全通过地面实验进行验证。因此,研究具有安全、便捷、低成本特点的机器人仿真技术,实现在虚拟环境中对机械臂在轨任务进行仿真,具有重要应用前景。针对我国空间站机械臂在轨工作任务需求,本文开发了空间站机械臂仿真软件,实现了空间站机械臂的三维可视化和任务仿真功能。重点开展了空间站机械臂的可重构虚拟图形建模方法和碰撞检测方法的研究,并进行了典型空间站机械臂任务仿真验证。主要内容如下:首先,开发基于虚拟现实的空间站机械臂任务仿真软件。在分析了机械臂运动学基础上,建立了三维可视化虚拟场景,设计了人机交互界面,实现了对空间站机械臂的运动仿真,提供给使用者以逼真的视觉临场感,并对机械臂的预编程控制、手动控制及参数控制等基本运动功能进行了仿真验证。其次,研究可重构虚拟图形建模方法,适应未知动态环境下的复杂任务仿真的模型需求,具有高度灵活性。提出了一种基于C++语言中vector容器的可重构虚拟图形建模方法,利用在线模型的添加、删除及移动操作实现了模型的可重构,满足了空间站机械臂的任务仿真前及仿真过程中对模型可重构的需求。再次,研究空间站机械臂的碰撞检测方法,实现了机械臂与其工作环境的快速碰撞检测。基于Flexible Collision Library碰撞检测库,通过对机械臂的碰撞对进行优化,剔除绝对不可能发生碰撞的碰撞对,实现了基于包围盒的快速碰撞检测方法。最后,开展空间站机械臂货盘搬运的典型任务仿真验证,对可重构虚拟图形建模方法和碰撞检测方法进行了仿真验证。在分析了货盘搬运任务需求的基础上,选取了机械臂末端路径点,进行了机械臂路径规划,针对可重构虚拟图形建模方法和碰撞检测方法进行了任务仿真,仿真结果证明了本文提出方法的有效性。更多还原

【Abstract】 With the development of space robot technology,the space manipulators have been able to assist or supersede the astronauts to accomplish some precise,complicated,and dangerous tasks,which relieve the risk of extravehicular activities and the pressure of space work,thus enhance the efficiency of space exploration.However,due to the increasing complexity of the tasks of space manipulators,ground experiments are far from enough to test the tasks of them.Therefore,it becomes a promising application to study the safe,convenient,and low-cost manipulator simulation and realize the task simulation of the space manipulators in the virtual environment.According to requirements of the space manipulators in our country,a space station manipulator simulation software is developed,which realizes the 3D visualization and the task simulation.It focuses on the reconfigurable virtual modeling method and the collision detection of the space station manipulators and executes the simulation of a typical task.The research content is mainly divided into the following parts:Firstly,a space station manipulator simulation software based on virtual reality is developed.Based on the analysis of the kinematics of the manipulator,a 3D virtual environment and a human interactive interface are built,which realize the kinematics simulation and give operators a realistic vision telepresence.Also,the simulation of the preprogrammed trajectory,teleoperation,and parameter control are implemented.Secondly,a reconfigurable virtual modeling method is studied to adapt the model to complicated task simulation in unknown and variable environment,which possesses high flexibility.A reconfigurable virtual modeling method based on vector,a C++ container is proposed,which implements the model reconfiguration with addition,removal,and transformation and meets the requirements of model reconfiguration before and during the simulation.Thirdly,the collision detection of the space station manipulator is studied,which realizes the fast collision detection of the manipulators and the environment.Based on the Flexible Collision Library,a boundary volume-based collision detection method is carried out through an optimized strategy,which involves excluding the pairs that are impossible to collide.Finally,a typical manipulator task simulation,the pallet transportation is completed to test the reconfigurable virtual modeling method and the collision detection method.Based on the analysis of the requirement of the pallet transportation,path points of the manipulator endpoint are selected and the path planning is executed.Then the task simulation is implemented with the reconfigurable virtual modeling method and the collision detection method,which verifies the effectiveness of the methods.更多还原