CN109500814B - Full-dimensional ground physical verification system and method for variable load condition of space manipulator - Google Patents

Full-dimensional ground physical verification system and method for variable load condition of space manipulator Download PDF

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CN109500814B
CN109500814B CN201811457842.4A CN201811457842A CN109500814B CN 109500814 B CN109500814 B CN 109500814B CN 201811457842 A CN201811457842 A CN 201811457842A CN 109500814 B CN109500814 B CN 109500814B
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base
platform
actuator
space
mechanical arm
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CN109500814A (en
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李晓琪
刘嘉宇
杜宝森
刘书选
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China Academy of Launch Vehicle Technology CALT
Beijing Research Institute of Precise Mechatronic Controls
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China Academy of Launch Vehicle Technology CALT
Beijing Research Institute of Precise Mechatronic Controls
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1628Programme controls characterised by the control loop
    • B25J9/1638Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • B25J9/1605Simulation of manipulator lay-out, design, modelling of manipulator
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • B25J9/1607Calculation of inertia, jacobian matrixes and inverses
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1615Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1623Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base

Abstract

A full-dimensional ground physical verification system and method for variable load conditions of a space manipulator belongs to the technical field of ground test verification of space robots. According to the invention, by designing a full-dimensional ground verification technology of the variable-load space manipulator, the pose change condition of the base in the variable-load process of the space robot in the three-dimensional space can be simulated, the feasibility and the effectiveness of a control algorithm under the variable-load condition of the space robot are verified, and the problem that the lower pose change under the variable-load condition of the space manipulator in the three-dimensional space cannot be simulated by the conventional ground test system is solved.

Description

Full-dimensional ground physical verification system and method for variable load condition of space manipulator
Technical Field
The invention relates to a full-dimensional ground physical verification system and method for a space manipulator under a variable load condition, and belongs to the technical field of ground test verification of space robots.
Background
The satellite is abandoned due to faults, complete failure or task completion, and then the satellite stays in the space to become space rubbish, thereby not only occupying precious orbit resources, but also endangering the safety of other spacecrafts. In order to recover the loss or purify the orbit environment as much as possible, the on-orbit service task which takes the space mechanical arm as a means and aims at satellite maintenance, capturing the failed satellite and clearing space garbage is rapidly developed. In the in-orbit service tasks, the load of the space manipulator changes along with the progress of tasks such as waste satellite recovery, and in order to ensure the successful execution of the in-orbit task under the variable load condition of the space manipulator, an experiment under the variable load condition of the space robot needs to be carried out under the simulated microgravity environment under the ground gravity environment so as to verify and evaluate indexes such as a control algorithm, the overall motion performance and the like of the space manipulator.
Currently, the available gravity compensation methods mainly include an air floatation method, a wire suspension counterweight method, a water floatation method, and a free fall method. The gravity compensation methods are obviously different, and the compensation effects are different. The suspension wire counterweight is a widely adopted gravity compensation mode, the gravity influence of the robot is compensated by the weight of the counterweight through the pulley block, and the suspension wire counterweight has the characteristics of low cost, easiness in maintenance and the like. However, the influence of gravity is difficult to compensate completely by the balance weight of the suspension wire, so that the movement of a part of joints with smaller driving force is limited, and in addition, the suspension wire can also cause shaking in the movement process of the system, thereby influencing the positioning precision of the mechanical arm. The water floating experiment system compensates the gravity influence of the robot through the buoyancy of water or other liquid, so that the physical simulation of the space robot on the three-dimensional working space is realized. However, the water floating experiment system is high in construction cost, and the tightness of the system needs to be ensured during experiments. The object is in a weightless state when doing free-fall motion, so a good microgravity environment can be obtained through the free-fall motion. However, the microgravity experiment system in the free-fall mode is expensive in manufacturing cost, high in maintenance cost, short in working time and greatly limited in application. The air flotation experiment system has the advantages of short construction period, long test duration, high simulation precision and the like, but the air flotation experiment can only realize plane dimensionality reduction test verification.
Disclosure of Invention
The technical problem solved by the invention is as follows: the system and the method can simulate the pose change condition of a base in the variable load process of the space robot in a three-dimensional space, verify the feasibility and the effectiveness of a control algorithm under the variable load condition of the space robot and solve the problem that the existing ground test system cannot simulate the lower pose change of the space manipulator under the variable load condition in the three-dimensional space.
The technical solution of the invention is as follows: the full-dimensional ground physical verification system for the variable load condition of the space manipulator comprises an actuator parallel mechanism, an actuator parallel mechanism controller, a six-dimensional force/torque sensor, the space manipulator, a space manipulator controller, a base and a load clamping mechanism;
the six-dimensional force/torque sensor is used for detecting force and torque of a load acting on the load clamping mechanism, generating six-dimensional force/torque sensing signals and sending the six-dimensional force/torque sensing signals to a mechanical arm dynamics resolving module in the space mechanical arm controller;
the space manipulator comprises a plurality of arm rods which are connected in series by a plurality of joint motors, one end of each arm rod is fixedly connected with the base, and the other end of each arm rod is provided with a load clamping mechanism;
the space mechanical arm controller comprises a mechanical arm dynamics resolving module and a mechanical arm single-joint motion control module, wherein the mechanical arm dynamics resolving module is used for receiving six-dimensional force/torque sensing signals, resolving pose motion information of the base and sending the pose motion information to the actuator parallel mechanism controller; the mechanical arm single-joint motion control module is used for receiving a mechanical arm control signal of an upper computer and controlling the joint motor to enable the space mechanical arm to be positioned at a position required by a test;
the actuator parallel mechanism controller is used for receiving pose movement information of the base and generating actuator control signals for controlling the actuators of the actuator parallel mechanism to act, and the actuator control signals enable the movement posture of the upper platform to be consistent with that of the base;
the actuator parallel mechanism comprises a plurality of actuators, an upper platform and a lower platform which are connected in parallel; one end of each actuator is hinged with the lower platform, and the other end of each actuator is hinged with the upper platform; the actuators receive actuator control signals to perform telescopic operation and drive the upper platform to move;
the base is fixedly connected with the upper platform.
Furthermore, the number of the actuators in the actuator parallel structure is six.
Further, the method for calculating the pose and motion information of the base comprises the following steps: by usingCalculating the linear acceleration and the angular acceleration of the base, and obtaining the speed and the pose of the base through integral operation, wherein Hb、HbmAnd HmRespectively, the inertia matrix of the base, the coupling inertia matrix of the base and the space manipulator and the inertia matrix of the space manipulator, cbAnd cmNonlinear terms of the base and space manipulator, respectively, FbFor external forces and moments acting on the base, FbIs a zero vector, tau is the moment of each joint of the space manipulator, JbAnd JmJacobian matrix, F, for the base and the space manipulator, respectivelyhThe six-dimensional force/torque signal is transmitted by the six-dimensional force/torque sensor signal processing module.
Further, the method for calculating the expansion and contraction amount of each actuator comprises the following steps: determining the spatial position coordinates of each hinge point of the upper platform in the upper platform coordinate system according to the pose of the base1PiI is 1,2,3,4,5,6, and the expansion and contraction amount of each actuator isWherein the content of the first and second substances,is a homogeneous coordinate transformation matrix from an upper platform coordinate system to a lower platform coordinate system,0Qiis the spatial position coordinate, L, of the lower hinge point in the lower platform coordinate systemi0For each actuator link initial length.
Furthermore, the upper platform is provided with a plurality of stages of steps for fixing the base, the diameter and the depth of each stage of step are respectively 0.4+0.25n meter and 0.02-0.005n meter, wherein n is more than or equal to 0 and less than (a-0.4)/0.25, a is the diameter of an upper hinge distribution circle, n is an integer not more than four, and the upper hinge distribution circle is a circle formed by connecting points of six actuators and the upper platform.
The full-dimensional ground physical verification method for the variable load condition of the space manipulator comprises the following steps of:
s1, constructing a space manipulator ground physical verification system; the space manipulator ground physical verification system comprises an actuator parallel mechanism, an actuator parallel mechanism controller, a space manipulator controller, a base and a load clamping mechanism; the space manipulator comprises a plurality of arm rods connected in series by a plurality of joint motors, one end of each arm rod is fixedly connected with the base, and the other end of each arm rod is provided with a load clamping mechanism; the space mechanical arm controller comprises a mechanical arm dynamics resolving module and a mechanical arm single-joint motion control module, wherein the mechanical arm dynamics resolving module is used for receiving six-dimensional force/torque sensing signals and resolving pose motion information of the base; the mechanical arm single-joint motion control module is used for receiving a mechanical arm control signal of an upper computer and controlling the joint motor to enable the space mechanical arm to be positioned at a position required by a test; the actuator parallel mechanism controller is used for receiving the pose movement information of the base and generating actuator control signals for controlling the actuators of the actuator parallel mechanism to act; the actuator parallel mechanism comprises a plurality of actuators, an upper platform and a lower platform which are connected in parallel; one end of each actuator is hinged with the lower platform, and the other end of each actuator is hinged with the upper platform; the actuators receive actuator control signals to perform telescopic operation and drive the upper platform to move; the base is fixedly connected with the upper platform;
s2, starting experimental verification, detecting the force and moment of the load acting on the load clamping mechanism in real time, generating six-dimensional force/moment sensing signals, and sending the six-dimensional force/moment sensing signals to a mechanical arm dynamics resolving module;
s3, the mechanical arm dynamics resolving module receives the six-dimensional force/torque sensing signals, resolves pose movement information of the base and sends the pose movement information to the actuator parallel mechanism controller; the mechanical arm single-joint motion control module receives a mechanical arm control signal of an upper computer and controls the joint motor to enable the space mechanical arm to be positioned at a position required by a test;
s4, the actuator parallel mechanism controller receives the pose movement information of the base and generates actuator control signals for controlling the actions of the actuators of the actuator parallel mechanism, and the actuator control signals enable the movement posture of the upper platform to be consistent with that of the base; .
Furthermore, the number of the actuators in the actuator parallel structure is six.
Further, the method for calculating the pose and motion information of the base comprises the following steps: by usingCalculating the linear acceleration and the angular acceleration of the base, and obtaining the speed and the pose of the base through integral operation, wherein Hb、HbmAnd HmRespectively, the inertia matrix of the base, the coupling inertia matrix of the base and the space manipulator and the inertia matrix of the space manipulator, cbAnd cmNonlinear terms of the base and space manipulator, respectively, FbFor external forces and moments acting on the base, FbIs a zero vector, tau is the moment of each joint of the space manipulator, JbAnd JmJacobian matrix, F, for the base and the space manipulator, respectivelyhThe six-dimensional force/torque signal is transmitted by the six-dimensional force/torque sensor signal processing module.
Further, the method for calculating the expansion and contraction amount of each actuator comprises the following steps: determining the spatial position coordinates of each hinge point of the upper platform in the upper platform coordinate system according to the pose of the base1PiI is 1,2,3,4,5,6, and the expansion and contraction amount of each actuator isWherein the content of the first and second substances,is a homogeneous coordinate transformation matrix from an upper platform coordinate system to a lower platform coordinate system,0Qiis the spatial position coordinate, L, of the lower hinge point in the lower platform coordinate systemi0For each actuator link initial length.
Furthermore, the upper platform is provided with a plurality of stages of steps for fixing the base, the diameter and the depth of each stage of step are respectively 0.4+0.25n meter and 0.02-0.005n meter, wherein n is more than or equal to 0 and less than (a-0.4)/0.25, a is the diameter of an upper hinge distribution circle, n is an integer not more than four, and the upper hinge distribution circle is a circle formed by connecting points of six actuators and the upper platform.
Compared with the prior art, the invention has the advantages that:
(1) the parallel mechanism actuator adopts a parallel structure to realize the equivalent movement of the variable load pose of the space robot, adopts a mode of parallel connection of the actuators, has great advantages in the aspects of working precision, movement speed, working bandwidth, all-directional acceleration performance and the like compared with a serial actuator in inverse kinematics resolving and pose control, and can realize the equivalent movement of the variable load pose of the space robot more accurately and rapidly.
(2) The parallel mechanism realizes equivalent movement of the space robot in variable load pose through the extension and retraction of the plurality of parallel actuators, and compared with other ground microgravity equivalent test devices, the parallel mechanism has stronger load capacity and wider adaptability to the space mechanical arm and the load mass thereof.
(3) The parallel mechanism designed by the invention can help designers to perform all six-degree-of-freedom kinematic simulation experiments on the ground by the space manipulator under the condition of lower cost, and verify the feasibility and effectiveness of a control algorithm under the condition of variable load of the space robot.
(4) The upper platform of the parallel mechanism designed by the invention is provided with the concentric circle guide grooves with different sizes, is suitable for mounting mechanical arm bases in different sizes, and the guide grooves provide convenience for mounting and positioning the mechanical arm base, thereby being beneficial to increasing the applicability of the ground test system.
(5) The invention detects the load change of the space robot through the six-dimensional force/torque sensor arranged on the load clamping mechanism, and simulates the posture change condition of the base under the condition that the space robot changes the load in a three-dimensional space, thereby realizing the full-dimensional ground verification of the space robot with the changed load.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a flow chart of the method of the present invention;
in the figure, 1-lower platform, 2-actuator parallel mechanism, 3-upper platform, 4-base, 5-space mechanical arm, 6-joint motor, 7-six-dimensional force/torque sensor, 8-load, 9-load clamping mechanism and 10-arm rod.
Detailed Description
As shown in fig. 2, the space robot variable load ground physical verification system includes a human-computer interaction unit, an actuator parallel mechanism 2, an actuator parallel mechanism controller, a six-dimensional force/torque sensor 7, a six-dimensional force/torque sensor signal processing module, a six-degree-of-freedom space manipulator 5, a space manipulator controller, a load clamping mechanism 9, and a load.
Referring to fig. 1, the actuator parallel mechanism is composed of an upper platform 3, a lower platform 1, six telescopic cylinders, hooke joints and the like. One end of the telescopic cylinder is connected with the upper platform 3 through a hook joint, and the other end of the telescopic cylinder is connected with the lower platform 1 through a hook joint.
The six-dimensional force/torque sensor 7 signal processing module comprises a force/torque signal filtering module and a communication module.
The space mechanical arm controller comprises an input data preprocessing module, a mechanical arm single-joint motion control module, a tail end clamping mechanism 9 motion control module, a mechanical arm dynamics resolving module and a communication module.
The actuator parallel mechanism controller comprises a communication module, an inverse kinematics resolving module and a telescopic cylinder motion control module.
The man-machine interaction unit hardware comprises an industrial personal computer and a touch screen. The man-machine interaction unit software comprises a communication module, a data display module and an instruction input module.
One end of a six-dimensional force/torque sensor 7 is connected with a sixth joint of the space manipulator 5, the other end of the six-dimensional force/torque sensor is connected with a load clamping mechanism 9, and the six-dimensional force/torque sensor 7 senses the load force and the torque at the tail end of the manipulator and converts the load force and the torque into signals of the six-dimensional force/torque sensor.
The six-dimensional force/torque sensor signal processing module: and filtering the six-dimensional force/torque sensor signal, and sending the filtered six-dimensional force/torque signal to the space mechanical arm controller through the Ethercat communication module.
The space mechanical arm controller receives the six-dimensional force/torque signal transmitted by the six-dimensional force/torque sensor signal processing module, the six-dimensional force/torque signal is processed into an input data form required by the mechanical arm dynamics resolving module through the input data preprocessing module, the mechanical arm dynamics resolving module resolves the base 4 pose according to the six-dimensional force/torque signal, and the resolved base 4 pose is transmitted to the actuator parallel mechanism controller through the communication module. The mechanical arm dynamics resolving module has the formula ofCalculated by the above formulaCalculating the linear acceleration of the base 4And angular accelerationAnd the speed and the pose of the base 4 are obtained through integral operation. Wherein Hb、HbmAnd HmRespectively a base 4 inertia matrix, a base 4 and a space manipulator 5 coupling inertia matrix and a space manipulator 5 inertia matrix, cbAnd cmRespectively, the nonlinear terms of the susceptor 4 and the space manipulator 5, FbFor external forces and moments acting on the base 4, the space manipulator 5 is in a self-floating state, so FbIs a zero vector. Tau is the moment of each joint of the space manipulator 5, JbAnd JmBase 4 and space manipulator 5 respectively are a Jacobian matrix, Fh∈R6×1For external load force/moment, i.e., the six-dimensional force/moment signal From the six-dimensional force/moment sensor signal processing module, see "Kazuya Yoshida, Space Robot Dynamics and Control: To Orbit, From Orbit, and Future, Orbit Research, 1993".
In addition, the single-joint motion control module of the mechanical arm can control six joints of the space mechanical arm 5 to move independently according to a single-joint motion instruction input by the human-computer interaction unit, and can also control the tail end clamping mechanism 9 to open/close according to a load clamping mechanism 9 input by the human-computer interaction unit.
The actuator parallel mechanism controller receives the base 4 pose transmitted by the space mechanical arm controller through the communication module, the inverse kinematics resolving module resolves the electric cylinder stretching amount required by the corresponding base 4 pose, the stretching amount of the electric cylinder at the settlement position is converted into servo driver signals of six electric cylinders through the stretching cylinder motion control module, and the electric cylinders are driven to stretch to complete motion instruction action. The space coordinate system of the appointed parallel mechanism platform in the inverse kinematics resolving module and the coordinate system of the appointed upper platform 3 are1O1X1Y1Z, the coordinate system of the lower platform 10O0X0Y0And Z. The upper and lower hinge points are respectively Pi,Qi(i is 1,2,3,4,5,6), firstly, according to the position and the attitude of the base 4, the space position coordinates of each hinge point of the upper platform 1 in the coordinate system of the upper platform 3 are determined1Pi(i ═ 1,2,3,4,5,6) by the formulaSix actuator connecting rod length vectors of the actuator parallel mechanism 2 are calculated, wherein,is a homogeneous coordinate transformation matrix from the coordinate system of the upper platform 3 to the coordinate system of the lower platform 1,0Qiis the space position coordinate of the lower hinge point in the coordinate system of the lower platform 1. Calculating the amount of extension and retraction of the actuator asWherein L isi0For each actuator link initial length.
Six electric cylinders of the actuator parallel mechanism 2 are respectively driven by six servo drivers through signals, and stretch out and draw back to complete motion instruction action, so that equivalent motion of the base 4 in a microgravity environment is realized.
The man-machine interaction unit realizes man-machine interaction, and the industrial personal computer realizes Ethercat communication with the mechanical arm controller and the actuator parallel mechanism controller through Ethercat communication. The human-computer interaction unit can receive six-dimensional force/torque information, six joint angles of the mechanical arm, the opening/closing state of the load clamping mechanism and the stretching amount of the electric cylinder of the actuator parallel mechanism 2 through the communication module, and displays the information in real time through the data display module for a user to monitor; by using the instruction input module, a user can input control instructions such as six joint angles of the mechanical arm, the opening/closing state of the load clamping mechanism 9, the stretching amount of the electric cylinder of the actuator parallel mechanism 2 and the like, and the control instructions are sent to the corresponding executing mechanism through the communication module.
In this experiment, will install base 4 on actuator parallel mechanism upper mounting plate 3, so upper mounting plate 3 will have sufficient size in order to install space arm 5, consider space structure compactness again, design actuator parallel mechanism 2 upper hinge distribution circle diameter is 1.0 ~ 1.5m, and lower hinge distribution circle diameter is 1.5 ~ 3m, considers actuator parallel mechanism 2's response speed, sets for operating frequency to be 60 ~ 100 Hz.
Considering the difference of the base sizes of the space manipulator 5, the upper platform 3 of the parallel mechanism is designed as shown in the figure. The diameter of a hinge distribution circle on the parallel robot is a, the center of the circle of the platform is used as the center, and circular grooves with the diameter and the depth of (0.4+0.25n) m and (0.02-0.005n) m (n is more than or equal to 0 and less than (a-0.4)/0.25, and n is an integer) are designed, so that the installation and the guide of the base 4 are facilitated, and the parallel robot can be suitable for fixing bases with different sizes.
For example, if the diameter of the hinge distribution circle on the parallel robot is 1.0m, circular grooves with diameters of 0.4m, 0.65m and 0.9m and depths of 0.02m, 0.015m and 0.01m are designed.
The full-dimensional ground physical verification system and method for the variable load condition of the space manipulator specifically comprise the following steps:
and (I) inputting six joint angle control instructions of the space manipulator by a user in a man-machine interaction unit, and controlling the space manipulator to be in any fixed non-singular configuration.
Step two, a user inputs a control instruction for opening the load clamping mechanism 9 in the man-machine interaction unit to control the load clamping mechanism to be opened;
placing a load with a certain mass in a clamping range of the load clamping mechanism 9, and then inputting a closing control instruction of the load clamping mechanism 9 by a user in a man-machine interaction unit to close the load clamping mechanism 9 and clamp the load;
step four, detecting six-dimensional force/torque information at the tail end of the mechanical arm by using a six-dimensional force/torque sensor 7, and reading the six-dimensional force/torque information F by the space mechanical arm controller through Ethercat communication as shown in figure 2e∈R6And the six-dimensional force/moment information F is obtainedeSubstituting the attitude information into a space manipulator dynamics resolving module to calculate the attitude information of the base 4;
step five, the space mechanical arm controller sends the attitude information of the base 4 to the actuator parallel mechanism controller through Ethercat communication, and the actuator parallel mechanism inverse kinematics resolving module calculates six servo driver signals for realizing equivalent motion according to the input attitude information of the base 4;
and step (VI), the 6 servo drivers drive the electric cylinder to stretch and retract to complete motion command actions so as to realize equivalent motion of the base 4 in pose when the load is changed in the micro-gravity environment of the simulated space robot in the ground gravity environment.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.

Claims (10)

1. Full dimension ground physics verification system of space manipulator variable load condition, its characterized in that: the device comprises an actuator parallel mechanism (2), an actuator parallel mechanism controller, a six-dimensional force/torque sensor (7), a space manipulator (5), a space manipulator controller, a base (4) and a load clamping mechanism (9);
the six-dimensional force/torque sensor (7) is used for detecting the force and torque of a load acting on the load clamping mechanism (9), generating a six-dimensional force/torque sensing signal and sending the six-dimensional force/torque sensing signal to a mechanical arm dynamics resolving module in the space mechanical arm controller;
the space manipulator (5) comprises a plurality of arm rods (10) which are connected in series by a plurality of joint motors (6), one end of each arm rod (10) is fixedly connected with the base (4), and the other end of each arm rod is provided with a load clamping mechanism (9);
the space mechanical arm controller comprises a mechanical arm dynamics resolving module and a mechanical arm single-joint motion control module, wherein the mechanical arm dynamics resolving module is used for receiving six-dimensional force/torque sensing signals, resolving pose motion information of the base (4) and sending the pose motion information to the actuator parallel mechanism controller; the mechanical arm single-joint motion control module is used for receiving a mechanical arm control signal of an upper computer and controlling the joint motor (6) to enable the space mechanical arm (5) to be positioned at a position required by a test;
the actuator parallel mechanism controller is used for receiving pose movement information of the base (4) and generating actuator control signals for controlling the actuators of the actuator parallel mechanism (2) to act, and the actuator control signals enable the movement posture of the upper platform (3) to be consistent with that of the base (4);
the actuator parallel mechanism (2) comprises a plurality of actuators, an upper platform (3) and a lower platform (1) which are connected in parallel; one end of each actuator is hinged with the lower platform (1), and the other end of each actuator is hinged with the upper platform (3); the actuators receive actuator control signals to perform telescopic operation, and the upper platform (3) is driven to move;
the base (4) is fixedly connected with the upper platform (3).
2. The system for full dimensional ground physics validation of variable load conditions for space robotic arms of claim 1, wherein: the number of the actuators in the actuator parallel mechanism (2) is six.
3. The full-dimensional ground physics validation system for space manipulator variable load situation of claim 2, characterized in that the method of resolving pose motion information of the base (4) is: by usingCalculating the linear acceleration and the angular acceleration of the base (4), and obtaining the speed and the pose of the base (4) through integral operation, wherein Hb、HbmAnd HmRespectively, an inertia matrix of the base (4), a coupling inertia matrix of the base (4) and the space manipulator (5), and an inertia matrix of the space manipulator (5), cbAnd cmRespectively, the nonlinear terms of the base (4) and the space manipulator (5), FbFor external forces and moments acting on the base (4), FbIs a zero vector, tau is the moment of each joint of the space manipulator (5), JbAnd JmJacobian matrix, F, of the base (4) and the space manipulator (5), respectivelyhThe six-dimensional force/torque signal is transmitted by a signal processing module of the six-dimensional force/torque sensor (7).
4. The system for full dimensional ground physics validation of variable load conditions for space robotic arms of claim 3, wherein: method for calculating expansion and contraction amount of each actuatorComprises the following steps: determining the space position coordinates of each hinge point of the upper platform (3) in the coordinate system of the upper platform (3) according to the pose of the base (4)1PiI is 1,2,3,4,5,6, and the expansion and contraction amount of each actuator isWherein the content of the first and second substances,is a homogeneous coordinate transformation matrix from an upper platform (3) coordinate system to a lower platform (1) coordinate system,0Qiis the spatial position coordinate, L, of the lower hinged point in the coordinate system of the lower platform (1)i0For each actuator link initial length.
5. The full-dimensional ground physical verification system for the variable load condition of the space manipulator as claimed in any one of claims 1 to 4, wherein: the upper platform (3) is provided with a plurality of stages of steps for fixing the base (4), the diameter and the depth of each stage of step are respectively 0.4+0.25n meter and 0.02-0.005n meter, wherein n is not less than 0 and less than (a-0.4)/0.25, a is the diameter of an upper hinge distribution circle, n is an integer not greater than four, and the upper hinge distribution circle is a circle formed by connecting points of six actuators and the upper platform (3).
6. The full-dimensional ground physical verification method for the variable load condition of the space manipulator is characterized by comprising the following steps of:
s1, constructing a space manipulator ground physical verification system; the space manipulator ground physical verification system comprises an actuator parallel mechanism (2), an actuator parallel mechanism controller, a space manipulator (5), a space manipulator controller, a base (4) and a load clamping mechanism (9); the space manipulator (5) comprises a plurality of arm rods (10) which are connected in series by a plurality of joint motors (6), one end of each arm rod is fixedly connected with the base (4), and the other end of each arm rod is provided with a load clamping mechanism (9); the space mechanical arm controller comprises a mechanical arm dynamics resolving module and a mechanical arm single-joint motion control module, wherein the mechanical arm dynamics resolving module is used for receiving six-dimensional force/torque sensing signals and resolving pose motion information of the base (4); the mechanical arm single-joint motion control module is used for receiving a mechanical arm control signal of an upper computer and controlling the joint motor (6) to enable the space mechanical arm (5) to be positioned at a position required by a test; the actuator parallel mechanism controller is used for receiving pose motion information of the base (4) and generating actuator control signals for controlling the actuators of the actuator parallel mechanism (2) to act; the actuator parallel mechanism (2) comprises a plurality of actuators, an upper platform (3) and a lower platform (1) which are connected in parallel; one end of each actuator is hinged with the lower platform (1), and the other end of each actuator is hinged with the upper platform (3); the actuators receive actuator control signals to perform telescopic operation and drive the upper platform (3) to move; the base (4) is fixedly connected with the upper platform (3);
s2, starting experimental verification, detecting the force and moment of the load acting on the load clamping mechanism (9) in real time, generating six-dimensional force/moment sensing signals and sending the six-dimensional force/moment sensing signals to a mechanical arm dynamics resolving module;
s3, the mechanical arm dynamics resolving module receives the six-dimensional force/torque sensing signals, resolves pose movement information of the base (4) and sends the pose movement information to the actuator parallel mechanism controller; the mechanical arm single-joint motion control module receives a mechanical arm control signal of an upper computer, and controls the joint motor (6) to enable the space mechanical arm (5) to be positioned at a position required by a test;
and S4, receiving the pose movement information of the base (4) by the actuator parallel mechanism controller, and generating actuator control signals for controlling the actions of the actuators of the actuator parallel mechanism (2), wherein the actuator control signals enable the movement posture of the upper platform (3) to be consistent with that of the base (4).
7. The full-dimensional ground physics verification method for space manipulator variable load situation of claim 6, characterized by: the number of the actuators in the actuator parallel mechanism (2) is six.
8. The method for full-dimensional ground physics validation of variable load conditions for space robotic arms of claim 7, wherein the solving is performedThe method for the pose movement information of the base (4) comprises the following steps: by usingCalculating the linear acceleration and the angular acceleration of the base (4), and obtaining the speed and the pose of the base (4) through integral operation, wherein Hb、HbmAnd HmRespectively, an inertia matrix of the base (4), a coupling inertia matrix of the base (4) and the space manipulator (5), and an inertia matrix of the space manipulator (5), cbAnd cmRespectively, the nonlinear terms of the base (4) and the space manipulator (5), FbFor external forces and moments acting on the base (4), FbIs a zero vector, tau is the moment of each joint of the space manipulator (5), JbAnd JmJacobian matrix, F, of the base (4) and the space manipulator (5), respectivelyhThe six-dimensional force/torque signal is transmitted by a signal processing module of the six-dimensional force/torque sensor (7).
9. The full-dimensional ground physics verification method for space manipulator variable load situation of claim 8, characterized by: the method for calculating the expansion and contraction amount of each actuator comprises the following steps: determining the space position coordinates of each hinge point of the upper platform (3) in the coordinate system of the upper platform (3) according to the pose of the base (4)1PiI is 1,2,3,4,5,6, and the expansion and contraction amount of each actuator isWherein the content of the first and second substances,is a homogeneous coordinate transformation matrix from an upper platform (3) coordinate system to a lower platform (1) coordinate system,0Qiis the spatial position coordinate, L, of the lower hinged point in the coordinate system of the lower platform (1)i0For each actuator link initial length.
10. The full-dimensional ground physical verification method for the variable load condition of the space manipulator as claimed in any one of claims 6 to 9, wherein the method comprises the following steps: the upper platform (3) is provided with a plurality of stages of steps for fixing the base (4), the diameter and the depth of each stage of step are respectively 0.4+0.25n meter and 0.02-0.005n meter, wherein n is not less than 0 and less than (a-0.4)/0.25, a is the diameter of an upper hinge distribution circle, n is an integer not greater than four, and the upper hinge distribution circle is a circle formed by connecting points of six actuators and the upper platform (3).
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