三臂机器人在轨动力学仿真

摘要

A simplified robot model with three arms was designed according to the needs of space operations.The coordinate transformation matrix was established based on the D-H method and the kinematic equations of the robot were derived.Based on ADAMS virtual prototyping technology,the climbing process of the robot on a pole was simulated for three kinds of gravity,respectively.The force curves and effect factors were obtained so as to offer the design references for the robot.%根据航天机器人太空作业的需要，设计了三臂机器人简化模型，应用 D-H 方法建立了坐标变换矩阵，推导了该机器人的运动学方程。基于 ADAMS 虚拟样机技术，分别在三种重力场环境下，对机器人的爬杆过程进行仿真，得到了机械手攀爬过程受力曲线，分析了影响机械手夹持力的主要因素，从而为这类机器人的设计提供参考。