受重力梯度扰动的空间机器人姿态动力学非线性特征分析

郭胜鹏; 李东旭; 范才智; 孟云鹤

doi:10.7498/aps.63.100504

摘要

研究考虑重力梯度扰动的自由漂浮空间机器人姿态动力学建模方法. 以二连杆空间机器人模型为基础，对机械臂构型固定时系统俯仰姿态受扰运动的非线性特征进行了深入分析. 利用相平面轨迹和Poincaré截面对受扰运动特征进行了描述，反映出受扰运动对轨道偏心率的变化比较敏感，在圆轨道时仅有周期摆动和翻滚两种形式，而在椭圆轨道时出现了准周期运动. 进一步利用系统分岔图、功率谱图对这种非线性运动特征进行了定量分析.

关键词:

Abstract

The attitude dynamics equation of free-floating space robots subjected to gravitational gradient effect is investigated. A two-link space robot is employed to analyze nonlinear properties of the perturbed yaw motion of the system in depth, when the manipulator configuration is fixed. Its nonlinear dynamical behavior is described by phase plane plot and Poincaré section. It is shown that the perturbed motion is sensitive to orbital eccentricity. The system takes on periodic motion and tumbling in circular orbit, while additional quasi-periodic motion in elliptic orbit. Furthermore, these nonlinearities are quantitatively studied by means of bifurcation and power spectrum.

Keywords:

作者及机构信息

1.
国防科学技术大学航天科学与工程学院, 长沙 410073

基金项目: 国防科学技术大学基础科学预研计划（批准号：JC13-01-08）资助的课题.

Authors and contacts

1.
College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, China

Funds: Project supported by the Advanced Research Program for Basic Science of National University of Defense Technology, China (Grant No. JC13-01-08).

参考文献

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[4]	Ogilvie A, Allport J, Hannah M, Lymer J 2008 Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space (Hollywood: European Space Agency) p25
[5]	Nanos K, Papadopoulos E 2011 Intel. Serv. Robot. 4 3
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[10]	Dubowsky S, Papadopoulos E 1993 IEEE Trans. Robot. Autom. 9 531
[11]	Xu W F, Liu Y, Liang B, Wang X Q, Xu Y S 2010 Multibody Syst. Dyn. 23 293
[12]	Xu W F, Liang B, Li C, Xu Y S 2010 Robotica 28 705
[13]	Xu W F, Liang B, Li C, Liu Y, Xu Y S 2009 Robotica 27 425
[14]	Yu F J 2012 Chin. Phys. B 21 110202
[15]	Sun C C, Xu Q C, Sui Y 2013 Chin. Phys. B 22 030507
[16]	Zhang T Y, Zhao Y, Xie X P 2012 Chin. Phys. B 21 120503
[17]	Wang C Q, Wu P F, Zhou X 2012 Acta Phys. Sin. 61 230503 (in Chinese) [王从庆, 吴鹏飞, 周鑫 2012 61 230503]
[18]	Xu G Y, Zhang M, Wang H Q 2012 Informatics in Control, Automation and Robotics (Berlin: Springer) pp59-66
[19]	Kai T 2012 Acta Astronaut. 74 20
[20]	Zhao H C, Wang C Q, Guo Z 2010 Mod. Appl. Sci. 4 175
[21]	Cocuzza S, Pretto I, Debei S 2011 Acta Astronaut. 68 1712
[22]	Sun W C, Gao H J, Kaynak O 2013 IEEE-ASME Trans. Mechatron. 18 1072
[23]	Oda M 2000 Proceedings of the IEEE International Conference on Robotics and Automation (San Francisco: IEEE Robotics and Automation Society) p914
[24]	Navabi M, Nasiri N, Dehghan M 2012 Commun. Nonlinear Sci. Numer. Simulat. 17 1065
[25]	Jia F L, Xu W, Li H N, Hou L Q 2013 Acta Phys. Sin. 62 100503 (in Chinese) [贾飞蕾, 徐伟, 李恒年, 侯黎强 2013 62 100503]
[26]	Schaub H, Junkins J L 2003 Analytical Mechanics of Space Systems (Reston: American Institue of Aeronautics and Astronautics) pp145-154
[27]	Zhang X F, Zhou J B, Zhang C, Bi Q S 2013 Acta Phys. Sin. 62 240505 (in Chinese) [张晓芳, 周建波, 张春, 毕勤胜 2013 62 240505]
[28]	Li C L, Yu S M 2012 Acta Phys. Sin. 61 040504 (in Chinese) [李春来, 禹思敏 2012 61 040504]
[29]	Xu W F, Li C, Liang B, Xu Y S, Liu Y, Qiang W Y 2009 Acta Astronaut. 64 109

施引文献

[1]	Yoshida K 2009 IEEE Robot. Autom. Mag. 16 20
[2]	Liao Y H, Li D K, Tang G J 2011 Sci. China: Tech. Sci. 54 1234
[3]	Yoshida K 2003 Int. J. Robot. Res. 22 321
[4]	Ogilvie A, Allport J, Hannah M, Lymer J 2008 Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space (Hollywood: European Space Agency) p25
[5]	Nanos K, Papadopoulos E 2011 Intel. Serv. Robot. 4 3
[6]	Xu W F, Liang B, Xu Y S 2011 Acta Astronaut. 68 1629
[7]	Zhou S, Fu J L, Liu Y S 2010 Chin. Phys. B 19 120301
[8]	Vafa Z, Dubowsky S 1987 Proceedings of the IEEE International Conference on Robotics and Automation (Raleigh: IEEE Robotics and Automation Society) p579
[9]	Liang B, Xu Y S, Bergerman M 1998 J. Dyn. Syst. Meas. Control 120 1
[10]	Dubowsky S, Papadopoulos E 1993 IEEE Trans. Robot. Autom. 9 531
[11]	Xu W F, Liu Y, Liang B, Wang X Q, Xu Y S 2010 Multibody Syst. Dyn. 23 293
[12]	Xu W F, Liang B, Li C, Xu Y S 2010 Robotica 28 705
[13]	Xu W F, Liang B, Li C, Liu Y, Xu Y S 2009 Robotica 27 425
[14]	Yu F J 2012 Chin. Phys. B 21 110202
[15]	Sun C C, Xu Q C, Sui Y 2013 Chin. Phys. B 22 030507
[16]	Zhang T Y, Zhao Y, Xie X P 2012 Chin. Phys. B 21 120503
[17]	Wang C Q, Wu P F, Zhou X 2012 Acta Phys. Sin. 61 230503 (in Chinese) [王从庆, 吴鹏飞, 周鑫 2012 61 230503]
[18]	Xu G Y, Zhang M, Wang H Q 2012 Informatics in Control, Automation and Robotics (Berlin: Springer) pp59-66
[19]	Kai T 2012 Acta Astronaut. 74 20
[20]	Zhao H C, Wang C Q, Guo Z 2010 Mod. Appl. Sci. 4 175
[21]	Cocuzza S, Pretto I, Debei S 2011 Acta Astronaut. 68 1712
[22]	Sun W C, Gao H J, Kaynak O 2013 IEEE-ASME Trans. Mechatron. 18 1072
[23]	Oda M 2000 Proceedings of the IEEE International Conference on Robotics and Automation (San Francisco: IEEE Robotics and Automation Society) p914
[24]	Navabi M, Nasiri N, Dehghan M 2012 Commun. Nonlinear Sci. Numer. Simulat. 17 1065
[25]	Jia F L, Xu W, Li H N, Hou L Q 2013 Acta Phys. Sin. 62 100503 (in Chinese) [贾飞蕾, 徐伟, 李恒年, 侯黎强 2013 62 100503]
[26]	Schaub H, Junkins J L 2003 Analytical Mechanics of Space Systems (Reston: American Institue of Aeronautics and Astronautics) pp145-154
[27]	Zhang X F, Zhou J B, Zhang C, Bi Q S 2013 Acta Phys. Sin. 62 240505 (in Chinese) [张晓芳, 周建波, 张春, 毕勤胜 2013 62 240505]
[28]	Li C L, Yu S M 2012 Acta Phys. Sin. 61 040504 (in Chinese) [李春来, 禹思敏 2012 61 040504]
[29]	Xu W F, Li C, Liang B, Xu Y S, Liu Y, Qiang W Y 2009 Acta Astronaut. 64 109

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