基于Kane方法的双臂空间机器人动力学分析

摘要

Its dynamics analysis plays an intermediate part in its design and control, so it is important to understand its unique dynamics and control characteristics. The topology, kinematics and dynamics of a dual-arm space robot are systematically studied, and its dynamic model is established by using the Kane-Huston method and the screw theory was presented in this paper. The numerical example shows that, given the values of motion parameters, the transient motion of all parts of the space robot can be solved by using the dynamics model we established. Simulations results show that the dynamics model established with the Kane-Huston method and the screw theory is true to reality.%机器人的动力学分析作为机器人设计和控制的中间桥梁,其独特的动力学特性和控制特征非常重要。本文系统研究了双臂空间机器人系统的拓扑结构、运动学及动力学特征,并基于Kane-Huston方法和旋量理论建立了双臂空间机器人系统动力学模型。算例表明,对于给定的运动参数,采用所建立的模型,可以求出双臂空间机器人各组成部分的瞬时运动,反之亦然。仿真结果表明,本文中基于旋量理论的Kane-Huston方法建立的双臂空间机器人系统动力学模型是符合实际的。