【摘要】 空间微重力环境下,空间机器人安装基座不固定,机械臂与安装基座之间存在运动学和动力学耦合作用.针对地面机器人的关节力矩计算方法不能直接用于空间机器人的研究中,根据空间机器人自由漂浮状态时系统动量守恒的特点,采用Newton-Euler正交方法构建了满足系统动量守恒约束条件的空间机器人运动曲线法空间与切空间基底,并以此为基础得到了自由飘浮状态下的空间机器人关节力矩的显式表达式.最后通过空间二连杆机械臂实例给出了其具体的应用.更多还原

【Abstract】 Due to the base of the robot is in the floating state in space,the conventional method to calculate the joint torque of the ground robot can’t be directly used to free-floating space robot.The tangent space and normal space of the robot motion curve is constructed by using Newton-Euler orthogonal method,which satisfy the restrictions of linear and angular momentum conservation of free-floating space robot system.An analytical expression of joint actuation torque in the floating state is given by using this method.Finally,a two-link space manipulator is used to verify the application of this method.更多还原