| 自由漂浮空间机器人动力学建模与仿真研究 |
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| 引用本文： | 王委锋. 自由漂浮空间机器人动力学建模与仿真研究[J]. 科学技术与工程, 2011, 11(13): 3004-3008 |
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| 作者姓名： | 王委锋 |
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| 作者单位： | 西北工业大学航天学院,西安,710072 |
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| 摘 要： | 空间机器人相比固定基座机器人,增加了6个自由度,且空间机器人的机械臂与基座之间存在动力学耦合问题。因此,其动力学建模较为复杂。针对自由漂浮空间机器人系统进行了运动学和动力学方程的推导,给出了动力学方程求解的详细算法,并采用Spacedyn工具箱对动力学模型进行了数值仿真。仿真结果表明建立的动力学模型可方便的进行自由漂浮空间机器人的运动分析。
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| 关 键 词： | 自由漂浮空间机器人 动力学建模 Spacedyn工具箱 |
| 收稿时间： | 2011-01-13 |
| 修稿时间： | 2011-01-17 |
Study on Dynamic modeling and Simulation of Free-floating Space Robot |
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| wangweifeng. Study on Dynamic modeling and Simulation of Free-floating Space Robot[J]. Science Technology and Engineering, 2011, 11(13): 3004-3008 |
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| Authors: | wangweifeng |
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| Affiliation: | (College of Astronautics,Northwestern Polytechnical University,Xi’an 710072,P.R.China) |
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| Abstract: | Space robot compare with compared to a fixed base robot increase 6 degrees of freedom, and between robot manipulator and the base of space robot have the problem of dynamics coupling. So the dynamic modeling is more complicated.In this paper, the kinematics and dynamics equations of free-floating space robot system is derived. A detailed algorithm for the solving of dynamics equation is given. The numerical simulation of dynamic modeling is carried through using Spacedyn toolbox. The simulation results suggest that the dynamics modeling can be easily for free-floating space robots motion analysis. |
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