宇航学报 ›› 2018, Vol. 39 ›› Issue (12): 1391-1400.doi: 10.3873/j.issn.1000-1328.2018.12.010

• 材料、结构与制造 • 上一篇    下一篇

变刚度连续型机械臂设计与控制

耿仕能,王友渔,陈丽莎,王聪,康荣杰   

  1. 1. 天津大学机构理论与装备设计教育部重点实验室,天津 300350;2. 北京空间飞行器总体设计部,北京 100086;
    3. 天津工业大学机械工程学院,天津300387
  • 收稿日期:2018-03-27 修回日期:2018-07-18 出版日期:2018-12-15 发布日期:2018-12-25
  • 基金资助:

    国家自然科学基金(51721003, 51605329, 51535008,5187050629);天津市自然科学基金青年项目(17JCQNJC03600)

Design and Control of a Continuum Arm with Variable Stiffness

GENG Shi neng, WANG You yu, CHEN Li sha, WANG Cong, KANG Rong jie   

  1. 1. Key Laboratory of Mechanism Theory and Equipment Design (Tianjin University), Ministry of Education, Tianjin 300350, China; 2. Beijing Institute of Spacecraft System Engineering, Beijing 100086, China; 3. School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin 300387, China
  • Received:2018-03-27 Revised:2018-07-18 Online:2018-12-15 Published:2018-12-25

摘要:

针对空间机械臂碰撞过程中产生的冲击和破坏问题,提出一种能被动适应碰撞且能保证操作精度的可变刚度丝驱动连续型机械臂。在以超弹镍钛合金丝为支撑脊椎和驱动部件的基础结构上,设计了一种利用温控记忆合金改变关节内摩擦力的变刚度方法。通过运动学分析得到机械臂驱动空间、构型空间和工作空间之间的坐标映射及速度雅克比矩阵,并结合末端位置反馈设计了一个稳定的闭环运动控制器。在检测丝驱动力的基础上提出了一种碰撞识别方法和相应的变刚度控制策略。运动控制和变刚度控制的实验结果表明该连续型机械臂具有良好的运动控制精度和刚度调节能力。

关键词: 连续型机械臂, 变刚度, 太空操作

Abstract:

 Considering the impact and damage resulted from the collision of the existing rigid space arms, a variable stiffness tendon-driven continuum arm that can passively adapt to the collisions and ensure the operation accuracy is proposed. Based on the structure with material of super-elastic NiTi alloy as the backbone and driving tendons, a variable stiffness method using the shape memory alloy (SMA) to change the internal friction is put forward. Through the kinematic analysis, the coordinate mappings from the joint space to configuration space and workspace, as well as the Jacobian matrixes are obtained, and a closed-loop controller is designed by integrating the end position feedback. Based on the measurement of the driving forces on the tendons, a collision detection method and a variable stiffness control strategy are established. The results show that the presented continuum arm has good tracking accuracy and capability of stiffness adjustment.

Key words: Continuum arm, Variable stiffness, Space manipulation

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