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研究考虑重力梯度扰动的自由漂浮空间机器人姿态动力学建模方法.以二连杆空间机器人模型为基础,对机械臂构型固定时系统俯仰姿态受扰运动的非线性特征进行了深入分析.利用相平面轨迹和Poincaré截面对受扰运动特征进行了描述,反映出受扰运动对轨道偏心率的变化比较敏感,在圆轨道时仅有周期摆动和翻滚两种形式,而在椭圆轨道时出现了准周期运动.进一步利用系统分岔图、功率谱图对这种非线性运动特征进行了定量分析.
This paper studies the modeling method of attitude dynamics of free-floating space robot considering the gravity gradient disturbance.Based on the two-link space robot model, the nonlinear characteristics of the perturbed motion of the pitch attitude during the fixed configuration of the manipulator are analyzed in detail The phase-plane trajectories and Poincaré sections describe the characteristics of the disturbed motions, which shows that the disturbed motions are sensitive to the changes of orbital eccentricity. In the case of circular orbit, there are only two modes, periodic swings and tumbling, while elliptical orbits Quasi-periodic motion.Further use of the system bifurcation diagram, power spectrum of this nonlinear motion characteristics were quantitatively analyzed.