考虑间隙和摩擦影响的空间机械臂动力学研究

项目名称： 考虑间隙和摩擦影响的空间机械臂动力学研究

项目编号： No.11272171

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 数理科学和化学

项目作者： 阎绍泽

作者单位： 清华大学

项目金额： 90万元

中文摘要： 随着载人航天和深空探测计划的进一步实施，国内外对空间机械臂位姿精度提出了更高的要求。然而，目前空间机械臂动力学理论还不是很完善，由动力学分析理论不完备造成的空间机械臂建模的不完整性、非线性因素建模的不充分性，以及性能预测的不真实性，造成航天工程实践中空间机械臂位姿难以精确控制，这严重制约着空间机械臂的发展。本项目以载人航天器对空间机械臂高性能需求为背景，研究空间机械臂关节摩擦行为的演变过程、大减速比传动装置的非线性力学行为预示与能量输运机制，以及在轨运行时空间机械臂与浮动基的耦合动力学行为，揭示间隙和摩擦对空间机械臂超低速运行时动力学特性的影响。这项研究将丰富和完善空间机械臂动力学理论，为解决空间机械臂研制与应用中的关键技术问题提供技术支撑，推动我国空间机械臂动力学分析技术的实用化进程，对提高空间机械臂动力学分析水平、关节传动装置的设计水平和空间机械臂运行可靠性具有重要意义。

中文关键词： 机械臂；航天器；摩擦；动力学；间隙

英文摘要： The requirement for accuracy of the position and orientation of space manipulator becomes much higher with further development of the manned space flight and deep space exploration program. However, current dynamics theory of the space manipulator has not been perfect. Moreover, the incompleteness of the dynamic modeling, the insufficiency of the nonlinear disturbance modeling and the distortion of the performance prediction induced by the imperfect dynamics theory, make the position and orientation accuracy of the space manipulator difficult to control, which severely restricts the development of the space manipulator. In order to meet the higher performance demand of the space manipulator used for the manned spacecraft, the project is to study friction behavior of the joint in the space manipulator during the evolution process and characteristics of the transmission devices, as well as coupling dynamic behavior of the space manipulator with a free-floating base. Furthermore, effects of friction and clearances on dynamic behavior of the space manipulator under the ultra low-speed motion will be revealed. This study will enrich and advance the theory of dynamics of space manipulator, which provides theoretical support for solving the key technical problems in development and application of space manipulator. The

英文关键词： Manipulator；Spacecraft；Friction；Dynamics；Clearance