中国空间科学技术

中国空间科学技术 ›› 2025, Vol. 45 ›› Issue (3): 89-99.doi: 10.16708/j.cnki.1000.758X.2025.0041

• 论文 • 上一篇    下一篇

面向空间抱捕的连续型机械臂机构设计

杨承旭1，赵志军1，*，王耀兵1，王捷1，王丽华2   

  1. 1.北京空间飞行器总体设计部 空间智能机器人系统技术与应用北京重点实验室，北京100094
    2.吉林大学 机械与航空航天工程学院，长春130025
  • 收稿日期:2024-01-05 修回日期:2024-01-22 录用日期:2024-02-23 发布日期:2025-05-15 出版日期:2025-06-01

Design of continuum robot for space capture

YANG Chengxu1，ZHAO Zhijun1，*，WANG Yaobing1， WANG Jie1，WANG Lihua2   

  1. 1.Beijing Key Laboratory of Intelligent Space Robotic Systems, Beijing Institute of Spacecraft System Engineering
    Technology and Applications， Beijing 100094， China
    2.School of Mechanical and Aerospace Engineering， Jilin University， Changchun 130025， China
  • Received:2024-01-05 Revision received:2024-01-22 Accepted:2024-02-23 Online:2025-05-15 Published:2025-06-01

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摘要： 针对空间中不同尺寸、形状目标的可靠捕获需求，设计了一种“C”型联动的绳驱动连续型机械臂，可在部分精确测量信息欠缺的条件下，实现对目标的“形封闭”可靠“抱捕”。该连续型机械臂可通过灵活增减关节数量在不同尺寸目标的捕获任务中应用，并具有各向操作能力一致的特点。首先介绍了机械臂的“C”型联动设计方案，然后针对联动式机械臂的运动学模型建立了基于雅可比矩阵条件数的灵活性描述指标，并以提升机械臂灵活性为优化目标采用粒子群算法对机械臂的杆长分配进行优化。结果显示，采用优化设计杆长的机械臂相比平均分配杆长的机械臂灵活性指标提升了4.6%。最后，仿真验证随着灵活性指标增加，机械臂的各向运动能力越接近，证明以该指标作为优化依据可以提升机械臂灵活性。

关键词: 连续型机械臂, 空间抱捕, 结构设计, 运动学模型, 灵活性优化

Abstract: Aiming at the requirement of reliable acquisition of objects of different sizes and shapes in space, a rope-driven continuum robot with “C” type linkage is designed, which can realize the “form-closed” and reliable capture of objects in the absence of some accurate measurement information. The continuum robot can be applied to the acquisition task of targets of different sizes by flexibly increasing or decreasing the number of joints, and has the characteristics of uniform operation capability in all directions. First the “C” type linkage design scheme of continuum robot is introduced, then the flexibility description index based on the Jacobian matrix condition number for the kinematic model of linkage continuum robot is established, and particle swarm optimization algorithm is adopted to optimize the rod length allocation of continuum robot with flexibility as the optimization objective. The results show that the flexibility index of the continuum robot with optimized rod length is 4.6% higher than that of the continuum robot with average rod length. Finally, the simulation results show that with the increase of the flexibility index, the anisodirectional motion ability of continuum robot becomes more similar. It is proved that the flexibility of continuum robot can be improved by using this index as optimization basis.

Key words: continuum robot, space capture, structure design, kinematic model, flexibility optimization