Research On Fault-tolerance Performance And Path Planing Of Space Manipulator Carrying Load

In recent years, space manipulator plays an irreplaceable role in the space exploration depend on its high flexibility. The load carrying task such as assembling capsule, handling large equipment can be done using the space manipulator, as considering the particularity of its working environment, the manipulator failure may occur during its long term on-orbit service, so it has the very vital significance to carry out the research on fault tolerance control of space manipulator. To do this,this paper takes various constraints into consideration, to assess the dynamic load carrying capacity (DLCC) and finish planning a new path.The research content mainly divided into the following several parts:Firstly, according to the working environment and characteristics of space manipulator, finish analyzing the factors that influence its DLCC.Through the establishment of dynamics equation of variable load analyzing the factors that influence the DLCC of space manipulator.Proposes a method to calculate the DLCC that take both Joint torque and base disturbing torque into consideration, using this method can analyzing the change of DLCC before and after the joint failure. Through the simulation can verify the uncertainty of DLCC before and after the joint failure.Secondly, achieve the trajectory search method on the basis of the establishment of fault tolerant workspace of 7-DOF space manipulator.Assess the DLCC of fault tolerant workspace then get the DLCC workspace and finish rasterizing it. Based on this, proposes an intelligent search algorithm to search a fault tolerant path and finish the assessment of DLCC and simulation.Thirdly, finish the fault tolerant path optimization which faces to the task that determinate of space manipulator. Select multiple paths that satisfy the requirement of load capacity by changing the initial conditions.Base on this, establish the optimization model of operation time and get the optimization path using particle swarm optimization, then finish verifying the effectiveness of the proposed method.Finally, the air float space manipulator is used to do experiment. A 3D simulation system is established and the feasibility and effectiveness of the theoretical methods this article propose are verified through the ground experiment and the simulation system.