CAJ | 학술논문

空间机械臂末端接触力模型建立与计算精度是设计高可靠性高精度空间机械臂力控制系统的关键之一。针对这一问题，基于空间机械臂ORU操作柔顺接触过程特点，建立末端接触力模型。通过设计的圆柱形ORU 以及与之合作的锥形ORU引导槽，计算接触半径R，法向接触力方向n和最大侵入点P，得到ORU的侵入深度Z。运用侵入量Z与接触力线性相关计算空间机械臂末端接触力，得到X、Y、Z方向的力和力矩分量。通过MATLAB-Simulink进行ORU直线和非直线运动过程仿真，并应用6自由度空间机械臂力控制系统进行仿真实验，结果表明末端接触力计算准确有效。
공간궤계비말단접촉력모형건립여계산정도시설계고가고성고정도공간궤계비력공제계통적관건지일。침대저일문제，기우공간궤계비ORU조작유순접촉과정특점，건립말단접촉력모형。통과설계적원주형ORU 이급여지합작적추형ORU인도조，계산접촉반경R，법향접촉력방향n화최대침입점P，득도ORU적침입심도Z。운용침입량Z여접촉력선성상관계산공간궤계비말단접촉력，득도X、Y、Z방향적력화력구분량。통과MATLAB-Simulink진행ORU직선화비직선운동과정방진，병응용6자유도공간궤계비력공제계통진행방진실험，결과표명말단접촉력계산준학유효。
Modeling and calculation accuracy of the contact force of space manipulator end is one of the key points to design high reliabil-ity and high precision accuracy force control system of space manipulator.In this paper,aiming at this key point,a kind of contact force model has been proposed that based on compliant contact process of space manipulator performing ORU operation.A cylindrical ORU and conical ORU guide groove are designed.According to the contact model,contact radius R,direction of the normal contact force n, maximal invasion point P and the resulting ORU invasion depth Z are calculated.Then,using contact force linear correlation with inva-sion depth Z to calculate the contact force of space manipulator end.Thus,the X,Y and Z components of the force and moment are ob-tained.Furthermore,Matlab-Simulink contact force simulation analysis was carried out on the ORU linear and the ORU nonlinear mo-tion process.And,using 6 DOF space manipulator force control simulation system to simulate and experiment.The simulation results in-dicate the calculation of contact force is accurate and effective.