基于碰撞干涉空间的空间机械臂碰撞干涉分析方法研究
首发时间:2015-01-07
摘要:随着空间技术的飞速发展,特别是空间站、航天飞机、空间机器人等的诞生及成功应用,空间机械臂作为在轨支持、在轨服务的一项关键性技术已经进入太空,并越来越受到人们的关注。本文针对空间机械臂在轨运行碰撞干涉分析方法进行研究,提出一种适用于空间机械臂的高效的碰撞干涉分析方法。首先介绍空间机械臂的结构树状图,在此基础上对空间机械臂的各个部件进行简化;其次介绍一种分析圆柱体与圆柱体之间干涉情况的方法;然后,提出了碰撞干涉空间这一概念,并设计了获取空间机械臂碰撞干涉空间的遍历算法,进而利用碰撞干涉空间进行空间机械臂的干涉分析;最后基于三维可视化仿真平台验证本文提出的方法的正确性。
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Collision analysis method for space manipulator based on collision and interference space
Abstract:With the development of space technology, especially the successful application of the space station, space shuttle and space robot, space manipulator as a key technology of on orbit support and service, has entered the space and attract more and more attention. This paper studies of collision analysis method for space manipulator in orbit, and presents a suitable and efficient method. Firstly the structure tree of space manipulator is introduced. Secondly a method for analysis of interference between cylinder and cylinder is described. Thirdly, the concept of collision and interference space is defined, which can be obtained by a traversal algorithm. The collision and interference space can be used in the analysis of a space manipulator's collision situation. Finally the proposed method is confirmed on a 3D visualization simulation platform.
Keywords: space manipulator collision analysis collision and interference space
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