绳驱超冗余多臂空间机器人动力学及协调变刚度控制研究

With the development of aerospace technology, the use of space robots to carry out the capture and overhaul of non-cooperative spacecraft has become an increasingly important way for on orbit service. This research focuses on the key technologies of the cable-driven hyper-redundant multi-manipulator space robot working for on orbit service: (1) For capturing and maintenance needs of non-cooperative target in harsh environments, a set of cable-driven hyper-redundant multi-manipulator space robot is designed, which owns the following three characteristics: separation in "machine-electric", integration of "rigid-flexible", dexterity in “forward-backward". (2) Consider the flexible characteristics of the drive cable, establishing a multi-coupling dynamics model of cable-driven hyper-redundant multi-manipulator space robot, revealing dynamic characteristics of the cable-driven complex system in microgravity space and large-temperature-difference environment; (3) Propose the trajectory planning and coordinated variable stiffness control method of the cable-driven hyper-redundant multi-manipulator space robot for the independently capture of non-cooperative motion targets, and reasonably distribute the motion trajectory and stiffness of different manipulators before and during capture; (4) Proposed multi-objective (obstacle avoidance, singularity avoidance, joint overrun avoidance) trajectory optimization and adaptive variable stiffness control method for hyper-redundant multi-manipulator space robot to maintenance the target after acquisition. . The research conforms to the current development direction of space robots and autonomous on orbit service technology. Relevant results have important theoretical innovations and strategic significance for future tasks such as repairing high-value satellites, cleaning up space junk, and implementing space attack and defense.

随着航天技术的发展，利用空间机器人开展非合作目标航天器的捕获及检修成为越来越重要的在轨服务方式。本课题针对绳驱超冗余多臂空间机器人执行在轨服务的关键技术开展如下研究：1）针对空间恶劣环境下非合作目标捕获及检修的需求，设计一套“机-电”分离、“刚-柔”共融、“进-退”灵巧的绳驱超冗余多臂空间机器人系统；2）考虑驱动绳索柔性特征，建立绳驱超冗余多臂空间机器人的多重耦合动力学模型；3）提出非合作运动目标自主捕获的超冗余多臂空间机器人协调轨迹规划及变刚度控制方法，合理分配捕获前、抓捕中不同机械臂的运动轨迹及刚度；4）提出超冗余多臂空间机器人对航天器捕获后进行检修的多目标（避障、避奇异、避关节超限）轨迹优化及自适应变刚度控制方法。. 课题顺应了我国当前大力发展空间机器人在轨服务技术的大方向，相关研究成果对修护高价值卫星、清理太空垃圾、实施空间攻防等任务有重要的理论创新及战略意义。

为解决非合作目标在轨服务的难题，本课题提出了应用由万向节串联而成的绳驱超冗余多臂空间机器人捕获非合作目标的思路。针对捕获过程中的关键问题开展深入研究，取得如下研究成果：（1）综述了超冗余机器人在狭小空间的典型应用、关键技术及重大挑战；（2）提出了考虑摩擦力的超冗余机器人动力学前馈模糊PD控制方法；（3）提出了绳驱超冗余空间机器人刚度云图概念及变刚度控制方法；（4）提出了绳驱超冗余空间机器人“整臂构型-末端轨迹”同步规划的方法；（5）研制了两代绳驱超冗余空间机器人实验系统并开展了相关实验。.在国家自然科学基金委的支持下，课题组圆满完成了所有研究内容，超出了预期目标。项目研究期间发表高水平学术论文13篇，其中SCI检索期刊论文10篇（含：中科院1区且影响因子大于10的TOP期刊论文2篇，中科院1区和2区TOP期刊论文各1篇，中科院2区期刊论文2篇，ESI高被引期刊论文1篇，SCI及EI同时检索论文5篇），EI检索论文2篇，中文期刊论文1篇。已授权国家发明专利11项，申请国家发明专利9项。项目研究期间培养博士生、硕士生共计8名。.课题顺应了当前我国大力发展空间机器人在轨服务技术的大方向，相关研究成果对未来卫星维修及空间攻防等非合作目标的在轨服务具有重要的理论意义、学术价值和战略意义。