CN108153957A - Space manipulator kinetics simulation analysis method, system and storage medium - Google Patents
Space manipulator kinetics simulation analysis method, system and storage medium Download PDFInfo
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- CN108153957A CN108153957A CN201711386664.6A CN201711386664A CN108153957A CN 108153957 A CN108153957 A CN 108153957A CN 201711386664 A CN201711386664 A CN 201711386664A CN 108153957 A CN108153957 A CN 108153957A
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- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
Abstract
The invention discloses a kind of space manipulator kinetics simulation analysis method, system and storage mediums.Wherein, this method includes the following steps：Simulation of Mechanism Movement is carried out to seven freedom mechanical arm using three-dimensional software, motion trace data is obtained, the angular speed and angular acceleration in each joint of mechanical arm is obtained according to motion trace data；Manipulator Dynamics emulation ADAMS models are established to seven freedom mechanical arm, and motion trace data is added to the driving source in each joint that Manipulator Dynamics emulation ADAMS models are obtained in Manipulator Dynamics emulation ADAMS models；The movement in each joint of mechanical arm is driven according to the driving source in each joint, obtains mechanical arm to the perturbed force and torque of ontology Each point in time of having flown and the stress in each joint of mechanical arm.Present invention reduces design, coordinate chain and period, it is quick to carry out iteration optimization design, evade complicated control algolithm, greatly improve working efficiency.
Description
Technical field
The invention belongs to space mechanism's systems technology field more particularly to a kind of space manipulator Dynamics Simulation Analysis sides
Method, system and storage medium.
Background technology
Space manipulator arrested in space-orbit execution, is repaired etc. and to be played an important role in tasks, during the motion
Object's position is uncertain and peripheral equipment is limited by arresting, and motion range arrests mode such as according to conventional calculation method
The control difficulty of mechanical arm can be caused to increase, path planning resolves complexity, can not obtain valid data in time.
Invention content
It proposes regarding to the issue above a kind of dynamic based on data-driven space manipulator trajectory path planning and variable element
Mechanics Simulation design method, and by taking seven freedom mechanical arm as an example, mechanical arm can be quickly obtained by the adjustment of set parameter
Path planning, and the dynamics simulation of mechanical arm is realized in the driving of passage path layout data, is realized and is quickly obtained mechanical arm fortune
Dynamic path parameter and mechanical arm items power and torque and interference parameter etc..The achievement can be selection, the design and analysis of overall plan
Reference frame is provided, design is highly shortened, coordinates chain and period, it is quick to carry out iteration optimization design.
Present invention solves the technical problem that it is：A kind of space manipulator dynamics is overcome the deficiencies of the prior art and provide
Simulating analysis, system and storage medium shorten design, coordinate chain and period, quick to carry out iteration optimization design, rule
Complicated control algolithm has been kept away, has greatly improved working efficiency.
The object of the invention is achieved by the following technical programs：According to an aspect of the invention, there is provided a kind of sky
Room machine arm kinetics simulation analysis method, the described method comprises the following steps：Step 1：Using three-dimensional software to seven freedom
Mechanical arm carries out Simulation of Mechanism Movement, obtains motion trace data, each joint of mechanical arm is obtained according to motion trace data
Angular speed and angular acceleration；Step 2：Manipulator Dynamics emulation ADAMS models are established to seven freedom mechanical arm, and will step
Motion trace data in rapid one is added to Manipulator Dynamics emulation ADAMS models and obtains Manipulator Dynamics emulation ADAMS
The driving source in each joint in model；Step 3：The driving source driving mechanical arm in each joint in step 2 is each
The movement in joint obtains mechanical arm to each joint of perturbed force and torque and mechanical arm of aircraft body Each point in time
Stress.
In above-mentioned space manipulator kinetics simulation analysis method, in step 1, motion trace data is each movement
The angle of the corner in each joint of mechanical arm corresponding to time point.
In above-mentioned space manipulator kinetics simulation analysis method, in step 1, three-dimensional software is CATIA softwares.
In above-mentioned space manipulator kinetics simulation analysis method, in step 1, using three-dimensional software to seven freedom
Mechanical arm carries out Simulation of Mechanism Movement and includes：Space seven freedom mechanical arm establishes seven freedom mechanical arm using three-dimensional software
CATIA mechanism kinematic models；Simulation of Mechanism Movement is carried out to space seven freedom mechanical arm CATIA mechanism kinematics model.
In above-mentioned space manipulator kinetics simulation analysis method, space seven freedom mechanical arm CATIA mechanism kinematic moulds
Type includes the first motor, first connecting rod, the second motor, second connecting rod, third motor, third connecting rod, the 4th motor, the 4th company
Bar, the 5th motor, the 5th connecting rod, the 6th motor, six-bar linkage, the 7th motor and seven-link assembly；Wherein, one end of first connecting rod
The first motor is embedded at, the other end is connect with third motor joint；One end of third connecting rod is embedded at third motor, the other end with
One end of fourth link is fixedly connected；The other end of fourth link is embedded at the 4th motor；One end of 5th connecting rod is embedded at
Five motors, the other end are connect with the 4th motor joint；One end of six-bar linkage is embedded at the 6th motor, the other end and the 5th motor
Joint connects；One end of seven-link assembly is embedded at the 7th motor, and the other end is connect with the 6th motor joint；Gripper and the 7th electricity
Organ's section connection.
According to another aspect of the present invention, a kind of space manipulator Dynamics Simulation Analysis system is additionally provided, including：
First module for carrying out Simulation of Mechanism Movement to seven freedom mechanical arm using three-dimensional software, obtains motion trace data, root
The angular speed and angular acceleration in each joint of mechanical arm are obtained according to motion trace data；Second module, for seven freedom machine
Tool arm establishes Manipulator Dynamics emulation ADAMS models, and the motion trace data of the first module is added to mechanical arm power
Learn the driving source in each joint that emulation ADAMS models are obtained in Manipulator Dynamics emulation ADAMS models；Third module is used
Movement in each joint of driving source driving mechanical arm in each joint according to the second module, obtains mechanical arm to aircraft sheet
The stress in each joint of perturbed force and torque and mechanical arm of body Each point in time.
In above-mentioned space manipulator Dynamics Simulation Analysis system, the motion trace data is each run duration point institute
The angle of the corner in the corresponding each joint of mechanical arm.
In above-mentioned space manipulator Dynamics Simulation Analysis system, the three-dimensional software is CATIA softwares.
In above-mentioned space manipulator Dynamics Simulation Analysis system, machine is carried out to seven freedom mechanical arm using three-dimensional software
Structure motion simulation includes：Seven freedom mechanical arm CATIA mechanisms fortune in space is established to seven freedom mechanical arm using three-dimensional software
Movable model；Simulation of Mechanism Movement is carried out to space seven freedom mechanical arm CATIA mechanism kinematics model.
According to a further aspect of the invention, one or more machine readable medias are additionally provided, are stored thereon with instruction,
When executed by one or more processors so that equipment performs one or more methods of one aspect of the present invention.
The present invention has the advantages that compared with prior art：
(1) for the present invention by establishing CATIA mechanism kinematic models, seven freedom mechanical arm of having made rational planning for arrests cooperative target
Movement locus of object is marked, the dynamics simulation for ADAMS provides the driving presetting angle in each joint.
(2) present invention is completed using the movement locus of CATIA model foundations and seven freedom mechanical arm is moved based on ADAMS
Mechanics Simulation obtains the driving force in each joint and torque versus time curve.
(3) present invention provides fast and effectively analysis for the movement of space manipulator and provides a kind of new method and hand
Section, and suitable for other types of mechanical arms.
Description of the drawings
By reading the detailed description of hereafter preferred embodiment, it is various other the advantages of and benefit it is common for this field
Technical staff will become clear.Attached drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings：
Fig. 1 is the principle signal of space seven freedom mechanical arm CATIA mechanism kinematic models provided in an embodiment of the present invention
Figure；
Fig. 2 is the schematic diagram of space seven freedom mechanical arm CATIA mechanism kinematic models provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram of the presetting angle curve of the first motor provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram of the presetting angle curve of the second motor provided in an embodiment of the present invention；
Fig. 5 is the schematic diagram of the presetting angle curve of third motor provided in an embodiment of the present invention；
Fig. 6 is the schematic diagram of the presetting angle curve of the 4th motor provided in an embodiment of the present invention；
Fig. 7 is the schematic diagram of the presetting angle curve of the 5th motor provided in an embodiment of the present invention；
Fig. 8 is the schematic diagram of the presetting angle curve of the 6th motor provided in an embodiment of the present invention；
Fig. 9 is the schematic diagram of the presetting angle curve of the 7th motor provided in an embodiment of the present invention；
Figure 10 (a) is showing for the original state of seven freedom mechanical arm ADAMS simulation models provided in an embodiment of the present invention
It is intended to；
Figure 10 (b) is showing for the unfolded state of seven freedom mechanical arm ADAMS simulation models provided in an embodiment of the present invention
It is intended to；
Figure 10 (c) is that seven freedom mechanical arm ADAMS simulation models provided in an embodiment of the present invention arrest showing for state
It is intended to；
Figure 10 (d) is showing for the promotion state of seven freedom mechanical arm ADAMS simulation models provided in an embodiment of the present invention
It is intended to；
Figure 10 (e) is the promotion rollover states of seven freedom mechanical arm ADAMS simulation models provided in an embodiment of the present invention
Schematic diagram；
Figure 11 is signal of the mechanical arm tail end manipulator provided in an embodiment of the present invention relative to coordinate origin movement locus
Figure；
Figure 12 is the perturbed force and torque provided in an embodiment of the present invention in aircraft junction mechanical arm to aircraft
Schematic diagram.
Specific embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.It should be noted that in the absence of conflict, embodiment in the present invention and
Feature in embodiment can be combined with each other.The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
A kind of space manipulator kinetics simulation analysis method is present embodiments provided, this method includes the following steps：
Step 1：Simulation of Mechanism Movement is carried out to seven freedom mechanical arm using three-dimensional software, obtains motion trace data,
The angular speed and angular acceleration in each joint of mechanical arm are obtained according to motion trace data；
Step 2：Manipulator Dynamics emulation ADAMS models are established to seven freedom mechanical arm, and by the fortune in step 1
Dynamic track data be added to Manipulator Dynamics emulation ADAMS models obtain Manipulator Dynamics emulation ADAMS models in it is each
The driving source in a joint；
Step 3：The movement in each joint of driving source driving mechanical arm in each joint in step 2, obtains machine
Tool arm is to the perturbed force and torque of ontology Each point in time of having flown and the stress in each joint of mechanical arm.
In step 1, three-dimensional software is CATIA softwares, and motion trace data is the machine corresponding to each run duration point
The angle of the corner in each joint of tool arm.
In step 1, Simulation of Mechanism Movement is carried out to seven freedom mechanical arm using three-dimensional software and is included：Using three-dimensional
Software establishes seven freedom mechanical arm on space seven freedom mechanical arm CATIA mechanism kinematic models；To space seven freedom machine
Tool arm CATIA mechanism kinematics model carries out Simulation of Mechanism Movement.
As shown in Figure 1, space seven freedom mechanical arm CATIA mechanism kinematics model include the first motor 1, first connecting rod,
Second motor 2, second connecting rod, third motor 3, third connecting rod, the 4th motor 4, fourth link, the 5th motor 5, the 5th connecting rod,
6th motor 6, six-bar linkage and the 7th motor 7, seven-link assembly；Wherein, one end of first connecting rod is embedded at the first motor 1, separately
One end is connect with 3 joint of third motor；One end of third connecting rod is embedded at one end of third motor 3, the other end and fourth link
It is fixedly connected；The other end of fourth link is embedded at the 4th motor 4；One end of 5th connecting rod is embedded at the 5th motor 5, the other end
It is connect with 4 joint of the 4th motor；One end of six-bar linkage is embedded at the 6th motor 6, and the other end is connect with 5 joint of the 5th motor；
One end of seven-link assembly is embedded at the 7th motor 7, and the other end is connect with 6 joint of the 6th motor；7 joint of gripper and the 7th motor
Connection.
Specifically, the method that the present embodiment employs CATIA and ADAMS combinations, 1) it is mechanical to seven freedom using CATIA
Arm carries out motion simulation, obtains motion trace data；2) the Manipulator Dynamics emulation ADAMS models of parametrization are established, and will
The manipulator motion track data that the first step obtains is imported into ADAMS；3) setting manipulator motion emulates relevant parameter and divides
Analysis, so as to obtain the required perturbed force of mechanical arm and the stressing conditions in torque and each joint of mechanical arm.
Seven freedom mechanical arm mechanism principle：
The seven freedom mechanical arm is made of 7 cradle heads, each cradle head is driven by electric rotating machine, mechanism
Schematic diagram is as shown in Figure 1.Mechanical arm rod piece number and motor number are followed successively by 1,2 from pedestal to end effector in figure ..., and 7.It should
Mechanical arm be a nonlinearity, close coupling, pose time-varying multi-variable system.
It is analyzed by D-H methods, its seven freedom robot linkage parameter can be obtained and be shown in Table 1.
1 seven freedom robot linkage parameter list of table
Seven freedom mechanical arm CATIA simulation model trajectory plannings：
Mechanical arm during the motion, not only needs end effector to reach desired position and posture, also need consider with
Miscellaneous equipment is avoided, and motion path of making rational planning for avoids mechanical arm from being also easy to produce interference with miscellaneous equipment during exercise.
Based on CATIA trajectory planning processes：
1) space seven freedom mechanical arm CATIA mechanism kinematic models are established；
2) each rotatable parts movement relation is set；
3) angle of each corner of mechanical arm is set；
4) arrange parameter is corrected according to motion result.
Fig. 2 is the seven freedom mechanical arm CATIA models established.
Seven freedom mechanical arm models：
In ADAMS simulation softwares, according to D-H robot linkage parameter lists, the ADAMS mechanical arm motors of parametrization are established
And Rod Model.Rod Model addition constraint, friction, contact force and driving finished to foundation etc., and closed according to model sport
The moving corner that presetting angle (as shown in Fig. 3 to Fig. 9) sets each joint is saved, finally establishes parametrization mechanical arm ADAMS
Simulation model (see Figure 10 (a) to Figure 10 (e)), square needs to arrest object for mechanical arm wherein in figure, finally to mechanical arm and
It arrests object and assigns qualitative attribute as required.
Due to the manipulator model established in manipulator model and the CATIA models of parametrization, there are vision differences, necessary
When the mechanical arm in CATIA threedimensional models can be imported into ADAMS, the model imported at this time be massless characteristic empty shell,
Without effect during dynamics simulation.
Based on ADAMS dynamics simulations
To the manipulator model established, it can't realize the arresting of mechanical arm, release movement, need to work out mechanical arm
Moving script, and emulated according to script.By script emulation, surrounding for each motion motor of mechanical arm can be directly obtained and set
Determine the power and torque of barycenter, be perturbed force and torque of the mechanical arm capture process to aircraft body.
Figure 11 is schematic diagram of the mechanical arm tail end manipulator relative to coordinate origin movement locus.Figure 12 is to connect in aircraft
Place's mechanical arm is connect to the perturbed force of aircraft and the schematic diagram of torque.
For the present embodiment by establishing CATIA mechanism kinematic models, seven freedom mechanical arm of having made rational planning for arrests cooperative target
Movement locus of object is marked, the dynamics simulation for ADAMS provides the driving presetting angle in each joint.And the present embodiment profit
It is completed with the movement locus of CATIA model foundations and seven freedom Manipulator Dynamics is emulated based on ADAMS, obtained each
The driving force in joint and torque versus time curve.And the present embodiment for the movement of space manipulator provide it is quick, have
The analysis of effect provides a kind of new ways and means, and suitable for other types of mechanical arms.
The present embodiment additionally provides a kind of space manipulator Dynamics Simulation Analysis system, the system include the first module,
Second module and third module.Wherein, the first module, for carrying out mechanism kinematic to seven freedom mechanical arm using three-dimensional software
Emulation obtains motion trace data, the angular speed and angular acceleration in each joint of mechanical arm is obtained according to motion trace data；The
Two modules, for establishing Manipulator Dynamics emulation ADAMS models to seven freedom mechanical arm, and by the movement rail of the first module
Mark data are added to Manipulator Dynamics emulation ADAMS models and obtain each pass in Manipulator Dynamics emulation ADAMS models
The driving source of section；Third module, for the fortune in each joint of driving source driving mechanical arm in each joint according to the second module
It is dynamic, mechanical arm is obtained to the perturbed force and torque of ontology Each point in time of having flown and the stress in each joint of mechanical arm.
In above-described embodiment, three-dimensional software is CATIA softwares, and mechanism is carried out to seven freedom mechanical arm using three-dimensional software
Motion simulation includes：Space seven freedom mechanical arm CATIA mechanism kinematics are established to seven freedom mechanical arm using three-dimensional software
Model；Simulation of Mechanism Movement is carried out to space seven freedom mechanical arm CATIA mechanism kinematics model.
The present embodiment additionally provides one or more machine readable medias, instruction is stored thereon with, when by one or more
When processor performs so that equipment performs space manipulator kinetics simulation analysis method.
For the present embodiment by establishing CATIA mechanism kinematic models, seven freedom mechanical arm of having made rational planning for arrests cooperative target
Movement locus of object is marked, the dynamics simulation for ADAMS provides the driving presetting angle in each joint.And the present embodiment profit
It is completed with the movement locus of CATIA model foundations and seven freedom Manipulator Dynamics is emulated based on ADAMS, obtained each
The driving force in joint and torque versus time curve.And the present embodiment for the movement of space manipulator provide it is quick, have
The analysis of effect provides a kind of new ways and means, and suitable for other types of mechanical arms.
Embodiment described above is the present invention more preferably specific embodiment, and those skilled in the art is in this hair
The usual variations and alternatives carried out in the range of bright technical solution should all include within the scope of the present invention.
Claims (10)
1. a kind of space manipulator kinetics simulation analysis method, which is characterized in that the described method comprises the following steps：
Step 1：Simulation of Mechanism Movement is carried out to seven freedom mechanical arm using three-dimensional software, obtains motion trace data, according to
Motion trace data obtains the angular speed and angular acceleration in each joint of mechanical arm；
Step 2：Manipulator Dynamics emulation ADAMS models are established to seven freedom mechanical arm, and by the movement rail in step 1
Mark data are added to Manipulator Dynamics emulation ADAMS models and obtain each pass in Manipulator Dynamics emulation ADAMS models
The driving source of section；
Step 3：The movement in each joint of driving source driving mechanical arm in each joint in step 2, obtains mechanical arm
The stress of perturbed force and torque and each joint of mechanical arm to aircraft body Each point in time.
2. space manipulator kinetics simulation analysis method according to claim 1, it is characterised in that：In step 1,
The angle of the corner in mechanical arm each joint of the motion trace data corresponding to each run duration point.
3. space manipulator kinetics simulation analysis method according to claim 1, it is characterised in that：In step 1,
Three-dimensional software is CATIA softwares.
4. space manipulator kinetics simulation analysis method according to claim 3, it is characterised in that：In step 1,
Simulation of Mechanism Movement is carried out using three-dimensional software to seven freedom mechanical arm to include：Using three-dimensional software to seven freedom mechanical arm
Establish space seven freedom mechanical arm CATIA mechanism kinematic models；To space seven freedom mechanical arm CATIA mechanism kinematic models
Carry out Simulation of Mechanism Movement.
5. space manipulator kinetics simulation analysis method according to claim 4, it is characterised in that：Space seven freedom
Mechanical arm CATIA mechanism kinematics model includes the first motor (1), first connecting rod, the second motor (2), second connecting rod, third motor
(3), third connecting rod, the 4th motor (4), fourth link, the 5th motor (5), the 5th connecting rod, the 6th motor (6), six-bar linkage,
7th motor (7) and seven-link assembly；Wherein, one end of first connecting rod is embedded at the first motor (1), the other end and third motor
(3) joint connects；One end of third connecting rod is embedded at third motor (3), and the other end is fixedly connected with one end of fourth link；The
The other end of double leval jib is embedded at the 4th motor (4)；One end of 5th connecting rod is embedded at the 5th motor (5), the other end and the 4th
Motor (4) joint connects；One end of six-bar linkage is embedded at the 6th motor (6), and the other end is connect with the 5th motor (5) joint；
One end of seven-link assembly is embedded at the 7th motor (7), and the other end is connect with the 6th motor (6) joint；Gripper and the 7th motor
(7) joint connects.
6. a kind of space manipulator Dynamics Simulation Analysis system, it is characterised in that including：
First module for carrying out Simulation of Mechanism Movement to seven freedom mechanical arm using three-dimensional software, obtains movement locus number
According to obtaining the angular speed and angular acceleration in each joint of mechanical arm according to motion trace data；
Second module, for establishing Manipulator Dynamics emulation ADAMS models to seven freedom mechanical arm, and by the first module
Motion trace data is added to Manipulator Dynamics emulation ADAMS models and obtains in Manipulator Dynamics emulation ADAMS models
The driving source in each joint；
Third module for the movement in each joint of driving source driving mechanical arm in each joint according to the second module, obtains
Mechanical arm is to the perturbed force and torque of ontology Each point in time of having flown and the stress in each joint of mechanical arm.
7. space manipulator Dynamics Simulation Analysis system according to claim 6, it is characterised in that：The movement locus
The angle of the corner in mechanical arm each joint of the data corresponding to each run duration point.
8. space manipulator Dynamics Simulation Analysis system according to claim 6, it is characterised in that：The three-dimensional software
For CATIA softwares.
9. space manipulator Dynamics Simulation Analysis system according to claim 8, it is characterised in that：Using three-dimensional software
Simulation of Mechanism Movement is carried out to seven freedom mechanical arm to include：Space seven is established to seven freedom mechanical arm using three-dimensional software certainly
By degree mechanical arm CATIA mechanism kinematic models；Mechanism kinematic is carried out to space seven freedom mechanical arm CATIA mechanism kinematics model
Emulation.
10. one or more machine readable medias, are stored thereon with instruction, when executed by one or more processors so that
Equipment is performed such as the method for one or more of claim 1-5.
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| CN113010968A (en) * | 2021-04-28 | 2021-06-22 | 中车青岛四方机车车辆股份有限公司 | Bogie modeling system and method based on CATIA software and storage |
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Application publication date: 20180612 |