空间柔性机器人动力学分析的快速积分算法

山东大学学报(工学版) ›› 2009, Vol. 39 ›› Issue (3): 94-98.

空间柔性机器人动力学分析的快速积分算法

田富洋吴洪涛赵大旭邵兵缪群华朱剑英

南京航空航天大学机电学院, 江苏南京 210016

收稿日期:2009-01-06 出版日期:2009-06-16 发布日期:2009-06-16
作者简介:田富洋(1979-),男,山东郓城人,博士研究生,研究方向为机器人动力学及其控制. E-mail:tfy_163@163.com
基金资助:
国防科工委“十一五”某预研基金资助项目(C4220062501);国家自然科学基金资助项目(50375071)

Fast integration algorithms for dynamics of a flexible space robots system

Department of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Received:2009-01-06 Online:2009-06-16 Published:2009-06-16

摘要/Abstract

摘要：

以空间柔性机器人为研究对象,分析了机器人柔性多体系统动力学建模过程,研究了根据广义动力学方法所建立的大型微分-代数方程的快速数值积分算法.本文采用Lagrange方法研究了空间柔性机器人的动力学模型,通过判断系统中铰的类型(主动关节和被动关节),建立机器人系统的微分-代数动力学方程,最后采用线性多步积分算法对建立的大型微分-代数方程进行高效率求解. 仿真算例的结果表明,本文研究的线性多步积分算法对求解大型微分-代数方程速度快,效率高,为空间机器人实时动力学仿真打下坚实的基础.

关键词: 空间机器人;柔性系统;动力学;微分-代数方程;快速积分

Abstract:

The dynamics model of flexible space robots was proposed, and the fast integration method to solve the complex differential-algebra equation was discussed. First, a dynamics model was set up based on the Lagrange method. Second, the differential-algebra equation of dynamics of the space flexible robots was gained according to the type of the joint (active or passive). Finally, the fast integration method to solve the complex differential-algebra equation was used. Simulations results showed that the dynamic modeling and fast integration techniques of the flexible space robot proposed was very useful.

Key words: space robots; flexible multibody; dynamic; differential-algebra equation; fast integration method

田富洋吴洪涛赵大旭邵兵缪群华朱剑英. 空间柔性机器人动力学分析的快速积分算法[J]. 山东大学学报(工学版), 2009, 39(3): 94-98.

TIAN Fu-yang, WU Hong-tao, ZHAO Da-xu, SHAO Bing, MIAO Qun-hua, ZHU Jian-ying. Fast integration algorithms for dynamics of a flexible space robots system[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(3): 94-98.

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