The invention discloses a space robot spherical outer envelope capturing method. The space robot spherical outer envelope capturing method comprises the steps: designing a capturing mode of a space robot spherical outer envelope capturing target; establishing a coordinate system, and carrying out stress analysis on the model; establishing a contact force model between the target and the sphericalouter envelope; and establishing a kinetic model of the space robot and the target by utilizing a Kane equation. By means of the technical scheme, the target is located in the spherical outer envelopebefore being captured by the mechanical arm and is not prone to escaping, the relative movement of the target relative to the platform is reduced through contact with the envelope, and mechanical armcapturing operation is completed conveniently.

    本发明公开了一种空间机器人球形外包络抓捕方法,包括设计空间机器人球形外包络抓捕目标的抓捕方式;建立坐标系,对模型进行受力分析;建立目标与球形外包络之间的接触力模型;利用Kane方程建立空间机器人和目标的动力学模型。通过本发明的技术方案,使目标在机械臂抓捕前处于球形外包络中,不易逃离,且通过与包络的接触降低目标相对平台的相对运动,便于完成机械臂抓捕操作。


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    Title :

    Space robot spherical outer envelope capturing method


    Additional title:

    一种空间机器人球形外包络抓捕方法


    Contributors:
    XIA XINHUI (author) / JIA YINGHONG (author) / XU SHUANFENG (author)

    Publication date :

    2020-12-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS



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