旋翼飞行机器人操作臂系统设计、建模与控制

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1、AbstractBecausetheR-UAV(Rotary-wingUnmannedAerialVehicle)hastheabilitytohoveronafixedpoint,cruiseatlow-altitudeandlowspeed,verticaltakeoffandlanding,whichabilitiesthatotheraerialvehiclesdonotpossess.Andafterthedevelopmentofmorethanadecade,R-UAVshavebeenwidelyutilizedinsu

2、rveillance,patrolandotherfields.Buttheseapplicationsaremainlyfocusedontheobservationandperceptionoftheenvironment.ThecombinationofR-UAVandmanipulatortobecomeanAerialManipulatorisanewdesignconceptproposedrecently.Theaerialmanipulatorisabletoextendthehumanhandtotheairtocom

3、pletetasksthatmanyotherrobotsareunabletocomplete,thusexpandstheoriginalapplicationfieldsofthemanipulator.Aerialmanipulatorsareparticularlysuitabletoworkremotelycontrolledorautonomouslyinharshenvironmentswhicharedifficultforhumanbeingstoreach.Thispaperfocusesonthetaskofcu

4、ttingoffofpowertransmissioncablewhichisnecessaryforthemaintenanceofpowertransmissionline,anddesirestoensurethesecurityofthepowergridthroughthedesignandimplementationoftheaerialmanipulatoranditsapplicationofcuttingoffofthedamagedpowertransmissioncablesinremotemountainousa

5、reas,andthustoverifythecontrolmethodfortheR-UAV’smanipulator.Thepaperfirstanalyzesthecurrentdevelopmentsofaerialmanipulatorsinlandandabroad.ThenamanipulatorisdesignedaccordingtothepayloadlimitoftheR-UAVandtherequirementsofthecuttingoffofthepowertransmissioncable.Andahydr

6、aulicbaseddrivesystemforthemanipulatorisproposedtoensurethesecurityandtheshearingforceduringthecuttingoffoperation.Theeffectivenessofthismanipulatorisverifiedthroughtheactualcuttingoffofapowertransmissioncable.AkinematicsmodelofthemanipulatorisestablishedbasedontheD-Hmet

7、hod,andthedynamicequationsofthemanipulatorareestablishedbasedtheLagrangeequation.The沈阳理工大学硕士学位论文kinematicmodelandthedynamicequationsserveasthefoundationofthesimulationanalysisandthedesignofthecontroller.Inthecontroldesignpart,inordertoaddressthemutualcouplingproblembetwe

8、enthemanipulatorandtheR-UAV,amethodoftakingtheinteractiveforce/torqueasadisturbancewhichisincorporatedi