Dynamics And Experiments Of Continuum Robot For Space Capture

With the development of human beings' exploration of space environment,more and more aircraft are losing their functions and affecting space security.Such aircraft and the debris,they have extremely fast flying speed and great killing capability.In the face of this potential uncertain threat,the world's major space powers have conducted in-depth studies on the clearance of space debris.In view of this research background,an arresting mechanism with the capability of space debris cleaning was proposed,and the theoretical research and experimental verification work was carried out around the continuum robot in the mechanism.The main research contents are as follows:(1)Structural design of the arresting mechanism.According to the basic problems that may exist in the process of debris cleaning,an arresting mechanism was designed with the capability of attitude adjustment,debris size adaptation and cleaning.The 3D model of the mechanism was built with Inventor,and the function of each module was introduced.The 3D printing technology is used to realize the processing of non-standard parts.This paper focuses on designing a continuum robot which plays an executive function in the capture mechanism,and takes it as the research object of the follow-up theoretical research.(2)Kinematics modeling and simulation of continuum robot.Aiming at the kinematics problem of the continuum robot in the process of deformation,the attitude transformation relation between the robot units was established by using the D-H(Denavit-Hartenberg)method.The kinematics model of robot is established by analyzing the mapping relation between the state variables of robot and the reason for the error of the equal-curvature model.The relationship between the motion space,joint variables and the driving quantity of the continuum robot were simulated by MATLAB.(3)Dynamic modeling and simulation of continuum robot.In order to study the dynamics of the continuum robot,the element matrix of the robot is derived,and the dynamic model of the robot is established by using the absolute node coordinate method.For the dynamic equation in differential-algebraic equations,the numerical solution of the dynamic equation is realized by using the symplectic method.Based on the instantaneous optimal control method,the dynamic control of the robot is studied.The dynamic response and control effect of the continuum robot under different driving conditions were simulated by MATLAB.(4)Design of the verification platform and experimental research of the continuum robot.In order to verify the correctness of the kinematic model and dynamic model of the continuum robot,verification platform is constructed,which integrates the hardware structure of the robot,the upper computer software based on LabVIEW,the photogrammetric equipment based on image technology and the sensing technology.Through the combination of MATLAB and experimental measurement,the robot kinematics experiment,statics experiment and dynamics experiment were carried out to verify the correctness of the model.