3D 双臂空间机器人广义雅克比矩阵推导与运动学特性分析

摘要

基于智能机器人空间在轨服务任务，对空间机械臂系统进行了一种新的3D双臂空间机器人广义雅克比矩阵推导方法研究和简单的运动学特性定量分析，并使用Simulink与ADAMS完成了3D双臂多自由度空间机器人的运动仿真和运动特性定性分析的验证。与以往对多臂机器人广义雅克比矩阵推导的单臂化或平面化处理不同，该方法适用于任意多臂多自由度空间机器人广义雅克比矩阵的推导，是一种普遍通用的推导方法，当臂的条数增多时相应修改对应参数即可。%Based on the intelligent space-robot on-orbit service, one derivation of new law was put forward which could be used in derived 3D dual-arm space-robot Generalized Jacobian Matrix.The analysis of the movement characteristics was then discussed.3D dual-arm space-robot dynamic sim-ulation analysis was made through Matlab-Simulink & ADAMS joint simulation.The derivation of new law can be applied in calculating the Generalized Jacobian Matrix of the multi-arm space-robot. It is not the same as the previous one-arm simplified form or planarization disposal.Based on the proposed method in this article, the 3-arm or multi-arm Generalized Jacobian Matrix can be calculat-ed simply by changing the sum rule’ s top limit.