考虑关节固体润滑的在轨装配机械臂振动特性及优化控制

面向大型空间结构在轨装配任务的空间机械臂对末端动态性能有很高要求。基于半物理仿真试验修正关节接触力，建立了考虑固体润滑特性的含关节轴向尺寸和间隙的机械臂动力学模型。通过仿真研究机械臂在不同结构参数与工况参数时重力及重力释放下径向振动特性的差异，并针对在轨装配过程中频繁启停的操作需求，分析变负载启停时的振动特性，以改善动态性能为目标，给出了优化控制方法。

Vibration Characteristics and Optimal Control of On-orbit Assembling Manipulators with Solid Lubricated Joints

On-orbit assembling manipulators for large space structures possessed high requirements for dynamic performance of the end-effectors. A dynamics model of solid lubricated manipulators with axial sizes and clearances was proposed，and the contact force of solid lubricated joints was modified based on semi-physical simulation experiments. The radial vibration characteristics for different gravity and its releasing environments of the manipulators under different structural parameters and working conditions were investigated by simulations. Focus on the demands of frequently start-stop operations throughout the assembly processes, the vibration characteristics of load mass changes at the start-stop operations of the manipulators were analyzed. Then, a optimal control strategy was presented to improve dynamic performance.