随着太空探索活动的进行，在轨服务的重要性日益凸显。空间绳驱机械臂具有关节尺寸小和整体变形能力强等特点，适用于故障帆板展开等新型在轨服务操作任务。由于空间绳驱机械臂的内部结构和外部环境均较为复杂，其动力学建模与分析将面临新的挑战。本文围绕多点接触下的空间绳驱机械臂展开研究，建立了空间绳驱机械臂简洁高效的动力学模型并分析其动力学特性；研究了多点接触问题解的分布特征；给出了一种计算复杂操作环境下空间机器人动力学响应的方法。首先，针对带有复杂绳索系统的空间机械臂进行动力学建模与分析。将臂杆等效为链式多刚体系统，驱动绳索等效为作用在臂杆上的空间分布力，联动绳索等效为线性扭簧或几何约束，分别利用递推方法和增广法求解空间绳驱机械臂的动力学方程；利用数值仿真初步验证了空间绳驱机械臂动力学模型的有效性；推导空间绳驱机械臂做微振动的动力学方程，计算了其各阶模态的振动频率和模态价值；分析了影响空间绳驱机械臂动力学模型数值仿真效率的因素，讨论了两种联动绳索模型各自的适用范围。其次，针对多点接触问题分析其解的分布特征。以带有单双边约束的平面多点接触静摩擦问题为例，建立多点接触问题的等价线性互补模型；给出了关于多点接触问题解的存在性、解的唯一性、解个数的有限性以及解的有界性的判定依据；通过数值仿真给出了多点接触问题存在唯一解、存在有限孤立解和存在无穷多有界解三种情形的具体算例。最后，针对复杂接触环境下的空间机器人给出一种计算其动力学响应的方法。考虑个数与位置不断变化的接触点以及可能多次出现的接触-分离现象和碰撞现象，给出了可以统一处理接触-分离过程、碰撞过程和连续接触过程的方法；以故障帆板展开任务为例，通过数值仿真验证了所给出方法的有效性，分析了空间机器人在帆板狭缝行进过程中的动力学特征。
As space exploration activities proceed, on-orbit servicing (OOS) has become more and more important. With advantages in size and flexibility, space rope-driven manipulators can perform well in the new OOS tasks such as panel-deploying and so on. The space rope-driven manipulator may have complex structure and work in complex environment. Some new problems need to be solved for the space rope-driven manipulato. This thesis studies a space rope-driven manipulator with multi-contacts. A simple and efficient dynamic model of the space rope-driven manipulator is presented and analyzed. The features of solutions in multi-contact problems are investigated. A method which can be used to caculate dynamic responces of space robots in complex environment is proposed.First, a dynamic model of space rope-driven manipulator with complex rope network is proposed. The rods are modeled as chained rigid multibody systems, the driving ropes are modeld as distributed space forces subjected to the rods, the connecting ropes are modeled as linear torsion springs or kinemic constraints. The equaitons of motion are solved by the recursive method or the augmented method separately. The validity of the proposed dynamic model is verified by numerical simulation. The governing equations of vibration are derived by applying perturbation method to the proposed dynamic model. Values of natural frequencies and modal costs are caculated. Computational efficiency of the numerical simulation is investigated. Applicable scopes for diffirent models of the connecting ropes are discussed.Then, the features of soluitons in multi-contact problems are analyzed. A planar contact problem subject to unilateral and bilateral kinetic constraints with static friction is discussed as an example. An equivalent linear complementarity model is proposed for the concerned multi-contact problems. Sufficient conditions for existance of soluitons, uniqueness of solutions, finiteness of the number of solutions and boundness of soluitons in multi-contact problems are derived. Numerical examples with a unique solution, finite non-unique soluitons or infinite solutions are presented.Finally, a method which can be used to caculate dynamic responces of space robots in complex environment is given. A varying number of contacts in varying locations with the phenomena of contact-departure and collision are concerned. A method to deal with contact-departure, collision or continuous contacts in a unified model is proposed. Numerical examples of the panel-deploying task are presented. The validity of the proposed method is verified. Dynamic features of the space robot in the narrow gap of solar panels are investigated.
