【作者】 柳长安； 袁景阳； 吴克河； 徐燕；

【Author】 LIU Chang-an, YUAN Jing-yang, WU Ke-he, XU Yan School of Computer Science and Technology, North China Electric Power University, Beijing 102206, China School of Mechatronics Engineering, Harbin Institute of Technology, Harbin Heilongjiang 150001, China

【机构】 华北电力大学计算机学院； 哈尔滨工业大学机电工程学院；

【摘要】 本文利用牛顿——欧拉方法分析了有外力作用时多臂自由飞行空间机器人协调操作的动力学特性,推导出多臂自由飞行空间机器人协调操作的机械臂铰链驱动力矩和关节角速度及角加速度间的关系。建立了FFSR系统的动力学方程和动力学模型。经仿真分析得到了在不同外力作用下多臂自由飞行空间机器人的部件位置变化规律。更多还原

【Abstract】 In this paper, the dynamic characteristic of multi-arm free-flying space robot (FFSR) coordination with external fore exiting is analyzed in the approach of Newton-Euler. The relation among its driving torque, joint angular velocity and angular acceleration of FFSR is deduced. The dynamic equations and model coordinate FFSR is constructed. The disturbing curves of its bodies caused by external force are obtained through dynamic simulation analysis.更多还原