单臂式空间机械臂捕捉空间目标问题研究

以空间机械臂系统的动量守恒关系式为基础，对空间机械臂抓取空间目标过程中的碰撞问题进行了分析，提出了“直臂抓取”与“广义直臂抓取”概念，详细推导了满足基座质心、系统质心及工作端点共线的机械臂构型，得到了碰撞力方向矢量与基座、系统质心重合的角度关系式．满足关系式的空间机械臂构型可有效的减少碰撞力对于系统角动量的影响，进而避免混合体控制问题的关节限制与力矩限制．通过仿真验证了方法的有效性．

The research of impact issues during single-arm space manipulator capturing object

Based on momentum conservation,the impact issues of space manipulator during capture operation were analyzed,and the concept of "straight-arm capture" and "generalized straight-arm capture" was proposed.The manipulator configuration,which can meet the requirement on the centroid of base and system,and on end-effector in a line was derived,and the corresponding angular relationship was obtained.The manipulator pre-impact configuration that satisfied the above relationship can reduce the effect of impact forc...