考虑含间隙关节的漂浮基空间机械臂动力学输出特性研究
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摘要
研究关节间隙对漂浮基空间机械臂动力学特性的影响对设计空间站机械臂具有重要意义。采用Lankarani-Nikravesh接触力表达式建立了考虑摩擦的含间隙关节模型;应用Lagrange方程和含间隙关节模型建立了含间隙的漂浮基空间机械臂动力学模型。数值模拟分析了间隙关节数量和不同间隙尺寸对漂浮基空间机械臂动力学输出特性的影响,并定量分析了间隙对漂浮基空间机械臂动力学输出的影响程度。结果表明,两个含间隙关节的耦合作用导致关节接触碰撞力剧烈变化,引起漂浮基空间机械臂的动力学输出更加剧烈;关节的间隙尺寸值越大,漂浮基空间机械臂动力学输出的波动幅值越大,但波动频率会随着间隙值的增大而减小,降低了空间机械臂的运动精度。该研究可为解决多个含间隙关节的漂浮基空间机械臂的高精度轨迹控制问题提供重要的理论依据。
The influence of joint clearance on the dynamic characteristics of the free-floating space manipulator is of great significance to the design of the space station manipulator. The joint model with clearance and friction is established by the Lankarani-Nikravesh contact force expression and the dynamic model of free-floating space manipulator with clearance is derived by using the Lagrange equation. The dynamic output characteristics is analyzed by numerical simulation in consideration of the number of joints with clearance and different clearance sizes and the influence of the clearance on the dynamic output characteristics of the free-floating manipulator is studied quantitatively. The results show that the coupling effect of the double joints with clearance leads to the dramatic change of the contact forces, which causes the dynamic output of the free-floating space manipulator to be more intense. The dynamic output of the free-floating space manipulator fluctuates more violently with the larger clearance size, but the fluctuation frequency decreases, which seriously reduces the motion accuracy of space manipulator. This study provides the important basis for the high precision trajectory control of free-floating space manipulator with multiple joints with clearance.
The influence of joint clearance on the dynamic characteristics of the free-floating space manipulator is of great significance to the design of the space station manipulator. The joint model with clearance and friction is established by the Lankarani-Nikravesh contact force expression and the dynamic model of free-floating space manipulator with clearance is derived by using the Lagrange equation. The dynamic output characteristics is analyzed by numerical simulation in consideration of the number of joints with clearance and different clearance sizes and the influence of the clearance on the dynamic output characteristics of the free-floating manipulator is studied quantitatively. The results show that the coupling effect of the double joints with clearance leads to the dramatic change of the contact forces, which causes the dynamic output of the free-floating space manipulator to be more intense. The dynamic output of the free-floating space manipulator fluctuates more violently with the larger clearance size, but the fluctuation frequency decreases, which seriously reduces the motion accuracy of space manipulator. This study provides the important basis for the high precision trajectory control of free-floating space manipulator with multiple joints with clearance.
引文
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[14]ZHOU C,JIN M H,LIU Y C,et al.Singularity robust path planning for real time base attitude adjustment of free-floating space robot[J].International Journal of Automation and Computing,2017,14(2):169-178.
[15]HUANG X H,JIA Y H,XU S J.Path planning of a free-floating space robot based on the degree of controllability[J].Science China Technological Sciences,2017,60(2):251-263.
[16]YU X,CHEN L.Modeling and observer-based augmented adaptive control of flexible-joint free-floating space manipulators[J].Acta Astronautica,2015,108:146-155.
[17]于潇雁,陈力.漂浮基柔性两杆空间机械臂基于状态观测器的鲁棒控制及振动控[J].机械工程学报,2016,52(15):28-35.YU Xiaoyan,CHEN Li.Observer based robust control and vibration control for a free-floating flexible space manipulator[J].Journal of Mechanical Engineering,2016,52(15):28-35.
[18]RYBUS T,SEWERYN K,SASIADEK J Z.Control system for free-floating space manipulator based on nonlinear model predictive control(NMPC)[J].Journal of Intelligent&Robotic Systems,2017,85(3-4):491-509.
[19]ZHANG Q,JI L,ZHOU D,et al.Nonholonomic motion planning for minimizing base disturbances of space manipulators based on multi-swarm PSO[J].Robotica,2017,35(4):861-875.
[20]WANG M,LUO J,FANG J,et al.Optimal trajectory planning of free-floating space manipulator using differential evolution algorithm[J].Advances in Space Research,2018,61(6):1525-1536.
[21]梁捷,陈力.漂浮基空间机械臂姿态与末端爪手协调运动的模糊变结构滑模控制[J].福州大学学报,2008,36(5):698-703.LIANG Jie,CHEN Li.Fuzzy variable structure sliding-mode control for coordinated motion of spacecraft attitude and its manipulator[J].Journal of Fuzhou University,2008,36(5):698-703.
[22]游斌弟,潘冬,赵阳.关节铰间隙对漂浮基星载天线扰动研究[J].宇航学报,2010,31(10):2251-2258.YOU Bindi,PAN Dong,ZHAO Yang.Research on disturbance of joint with clearance on free-floating satellite antenna[J].Journal of Astronautics,2010,31(10):2251-2258.
[23]KOSHY C S,FLORES P,LANKARANI H M.Study of the effect of contact force model on the dynamic response of mechanical systems with dry clearance joints:Computational and experimental approaches[J].Nonlinear Dynamics,2013,73(1-2):325-338.
[24]LANKARANI H M,NIKRAVESH P E.A contact force model with hysteresis damping for impact analysis of multibody systems[J].Journal of Mechanical Design,1990,112(3):369-376.
[25]YANG L,ZHANG X,HUANG Y.Dynamic analysis of open-loop mechanisms with multiple spatial revolute clearance joints[J].Proceedings of the Institution of Mechanical Engineers,Part C:Journal of Mechanical Engineering Science,2018:0954406218757810.
[2]ZHANG F,FU Y,QU J,et al.Robust adaptive control of a free-floating space robot system in cartesian space[J].International Journal of Advanced Robotic Systems,2015,12:1-11.
[3]XIANG W W K,YAN S Z,WU J N.A comprehensive method for joint wear prediction in planar mechanical systems with clearances considering complex contact conditions[J].Science China Technological Sciences,2015,58(1):86-96.
[4]阎绍泽,向吴维凯,黄铁球.计及间隙的运动副和机械系统动力学的研究进展[J].北京大学学报,2016,52(4):741-755.YAN Shaoze,XIANG Wuweikai,HUANG Tieqiu.Advances in modeling of clearance joints and dynamics of mechanical systems with clearances[J].Acta Scientiarum Naturalium Universitatis Pekinensis,2016,52(4):741-755.
[5]XIANG W,YAN S,WU J,et al.Complexity evaluation of nonlinear dynamic behavior of mechanisms with clearance joints by using the fractal method[J].Proceedings of the Institution of Mechanical Engineers,Part C:Journal of Mechanical Engineering Science,2014,228(18):3482-3495.
[6]DONG P,YANG Z,YUE Z,et al.Dynamic modeling and analysis of space manipulator considering the flexible of joint and link[C]//Advanced Materials Research.Trans Tech.Publications,2013,823:270-275.
[7]ZHAO Y,BAI Z F.Dynamics analysis of space robot manipulator with joint clearance[J].Acta Astronautica,2011,68(7):1147-1155.
[8]CHAKER A,MLIKA A,LARIBI M A,et al.Clearance and manufacturing errors'effects on the accuracy of the3-RCC spherical parallel manipulator[J].European Journal of Mechanics-A/Solids,2013,37:86-95.
[9]卢剑伟,陈昊,孙晓明,等.考虑减速机构间隙的机械臂动力学建模分析[J].机械工程学报,2013,49(15):15-21.LU Jianwei,CHEN Hao,SUN Xiaoming,et al.Dynamic modeling and analysis of robot arm with consideration of clearance in gear reducer[J].Journal of Mechanical Engineering,2013,49(15):15-21.
[10]MEGAHED S M,HAROUN A F.Analysis of the dynamic behavioral performance of mechanical systems with multi-clearance joints[J].Journal of Computational and Nonlinear Dynamics,2012,7(1):1-11.
[11]MUVENGEI O,KIHIU J,IKUA B.Dynamic analysis of planar rigid-body mechanical systems with two-clearance revolute joints[J].Nonlinear Dynamics,2013,73(1-2):259-273.
[12]ABDALLAH M A B,KHEMILI I,AIFAOUI N.Numerical investigation of a flexible slider-crank mechanism with multijoints with clearance[J].Multibody System Dynamics,2016,38(2):173-199.
[13]FLORES P,LANKARANI H M.Dynamic response of multibody systems with multiple clearance joints[J].Journal of Computational and Nonlinear Dynamics,2012,7(3):1-13.
[14]ZHOU C,JIN M H,LIU Y C,et al.Singularity robust path planning for real time base attitude adjustment of free-floating space robot[J].International Journal of Automation and Computing,2017,14(2):169-178.
[15]HUANG X H,JIA Y H,XU S J.Path planning of a free-floating space robot based on the degree of controllability[J].Science China Technological Sciences,2017,60(2):251-263.
[16]YU X,CHEN L.Modeling and observer-based augmented adaptive control of flexible-joint free-floating space manipulators[J].Acta Astronautica,2015,108:146-155.
[17]于潇雁,陈力.漂浮基柔性两杆空间机械臂基于状态观测器的鲁棒控制及振动控[J].机械工程学报,2016,52(15):28-35.YU Xiaoyan,CHEN Li.Observer based robust control and vibration control for a free-floating flexible space manipulator[J].Journal of Mechanical Engineering,2016,52(15):28-35.
[18]RYBUS T,SEWERYN K,SASIADEK J Z.Control system for free-floating space manipulator based on nonlinear model predictive control(NMPC)[J].Journal of Intelligent&Robotic Systems,2017,85(3-4):491-509.
[19]ZHANG Q,JI L,ZHOU D,et al.Nonholonomic motion planning for minimizing base disturbances of space manipulators based on multi-swarm PSO[J].Robotica,2017,35(4):861-875.
[20]WANG M,LUO J,FANG J,et al.Optimal trajectory planning of free-floating space manipulator using differential evolution algorithm[J].Advances in Space Research,2018,61(6):1525-1536.
[21]梁捷,陈力.漂浮基空间机械臂姿态与末端爪手协调运动的模糊变结构滑模控制[J].福州大学学报,2008,36(5):698-703.LIANG Jie,CHEN Li.Fuzzy variable structure sliding-mode control for coordinated motion of spacecraft attitude and its manipulator[J].Journal of Fuzhou University,2008,36(5):698-703.
[22]游斌弟,潘冬,赵阳.关节铰间隙对漂浮基星载天线扰动研究[J].宇航学报,2010,31(10):2251-2258.YOU Bindi,PAN Dong,ZHAO Yang.Research on disturbance of joint with clearance on free-floating satellite antenna[J].Journal of Astronautics,2010,31(10):2251-2258.
[23]KOSHY C S,FLORES P,LANKARANI H M.Study of the effect of contact force model on the dynamic response of mechanical systems with dry clearance joints:Computational and experimental approaches[J].Nonlinear Dynamics,2013,73(1-2):325-338.
[24]LANKARANI H M,NIKRAVESH P E.A contact force model with hysteresis damping for impact analysis of multibody systems[J].Journal of Mechanical Design,1990,112(3):369-376.
[25]YANG L,ZHANG X,HUANG Y.Dynamic analysis of open-loop mechanisms with multiple spatial revolute clearance joints[J].Proceedings of the Institution of Mechanical Engineers,Part C:Journal of Mechanical Engineering Science,2018:0954406218757810.