大型挠性空间机械臂动力学与减速比对振动抑制影响

大型空间机械臂在操作过程中,一个突出的问题是超低频挠性,不仅存在机械臂的弯曲振动,而且还存在关节的扭转变形振动,关节控制中,一个重要问题是在实现关节位置控制的同时如何稳定和衰减机械臂及其关节的低频挠性振动.与关节驱动结构相关的减速比参数如何影响振动抑制的效果是空间机械臂关节设计中需要分析的问题,这关系到如何合理选择减速比参数.运用集中参数法对空间机械臂的关节驱动及其挠性组合动力学进行建模,研究了同时抑制关节振动和机械臂振动的一种稳定性策略,通过数值仿真分析了减速比参数对振动抑制的影响,提出了选择减速比参数的方法.这对未来空间站工程的大型挠性空间机械臂设计、动力学与控制研究中具有可应用的参考价值.

Research of Dynamics and Gear Ratio Effects on Vibration Suppression For Large Space Flexible Manipulator

Super-low frequency flexibility during motion is an important issue for a large space manipulator,which involves not only the bending vibration of arm exists, but also the joint torsional vibration. In joint control, what is important is to stabilize and suppress low flexible vibration of joint and arm while joint position is being controlled. How gear ratio parameters for joint structure affect vibration suppression is also a required problem to analyze in joint design of space manipulator, on which gear ratio parameters depend. Combined dynamics of flexible joint and arm for space manipulator was modeled with concentrated parameter method, one strategy of suppressing joint vibration and arm vibration simultaneously was put forward, the effect of gear ratio on vibration suppression was analyzed by numerical simulation and theoretical analysis. This will be useful in design and research of large space flexible manipulator.