空间任务由于太空环境的特殊性，让航天活动具有高成本、高风险的特点，航天器入轨后一旦发生故障，将导致巨大经济损失。面对复杂的太空环境和任务，本文提出了一种新型的刚柔协作双臂空间机器人（RCSR），结合关节式刚性机械臂与连续体柔性机械臂各自的优势，实现“刚柔并济”的效果。不同于传统空间机器人,RCSR系统复杂度高，其中有两大问题亟待研究：一是RCSR系统的建模难度大，需考虑双臂不同的结构特点；二是RCSR系统的协同控制和规划难，不仅涉及不同的模型特征、驱动方式，还需考虑基座耦合的影响。首先，对RCSR系统进行了运动学建模，推导了两种机械臂各自的运动学表达式，应用自由漂浮条件下的动量守恒公式建立了广义雅可比运动学方程，即自由漂浮RCSR系统的运动学模型。接下来针对RCSR系统实现双臂同时作业、满足基座不受干扰与调整基座到固定姿态的一系列任务需求，利用双臂系统的运动学冗余性和系统非完整特性，提出了一组面向多重任务目标的双臂协同规划方法，实现了刚柔双臂完成目标捕获与基座姿态稳定与重新回正等多重任务目标。对规划方法的数值仿真与物理情景演示验证了各规划方法的有效性。一系列仿真结果表明，正运动学测试与逆运动学轨迹跟踪位置误差在 次方级，角度误差在 次方级，根据遗传算法得到的双臂抓捕调整后基座终态偏移角度为 [-0.2204°, -0.4619°, 0.6801°]。针对空间机器人常见的开链与闭链作业情景，结合分析力学相关理论，着重讨论了连续型机械臂动力学方程的建立过程；归纳总结了RCSR系统的动力学建模问题中的动力学方程理论，并根据RCSR系统在自由漂浮和闭链抓握情景下的动力学特性与约束特性，采用分析力学凯恩方程建立了系统动力学模型。通过动力学方程的正向求解，得到一阶动力学响应与速度级响应均平滑可控，二阶速度量对时间积分与一阶角度变化趋势和数量匹配的结论。最后，首次搭建了由三自由度平面刚性臂和三自由度平面绳驱柔性臂组成的平面RCSR地面实验系统，并对双臂同时作为任务操作臂的协同作业典型情景进行了演示实验。本课题建立了RCSR系统的运动学和动力学模型并开展了一系列规划与控制方法研究，对系统的后续研究工作和在轨服务技术具有较高贡献。
Due to the particularity of space environment, space missions have the characteristics of high cost and high risk. Facing the complex space environment and tasks, this paper proposes a new rigid and continuum cooperative dual-arm space robot, which combines the advantages of two different types of manipulators to achieve the effect of "rigid and continuum " to meet the needs of more and more complex on-orbit tasks. Different from the traditional space robot, the rigid- continuum cooperative dual-arm space robot system has high complexity, and there are two major problems to be studied. One is that the modeling of rigid- continuum cooperative dual-arm space robot is difficult, and the different structural characteristics of both arms need to be considered. Second, the collaborative control and planning of rigid and continuum cooperative dual-arm space robots are difficult, which not only involves different model features, driving methods, but also needs to consider the influence of base coupling. Firstly, the kinematics modeling of the rigid-continuum cooperative dual-arm space robot was carried out, and the respective kinematic expressions of the two manipulators were derived. The kinematic model of the whole system was established by applying the momentum conservation formula under the free floating condition. Aiming at a series of task requirements of rigid-continuum cooperative dual-arm space robots to realize simultaneous operation of both arms, satisfy the interference of the base and adjust the base to a fixed attitude, a set of dual-arm cooperative planning methods for multi-task objectives are proposed by using the kinematic redundancy and system non-holonomic characteristics of the dual-arm system. Multi-task objectives such as rigid-continuum dual-arm target acquisition and base attitude stability are realized. Through the simulation of the planning method, the effectiveness of each planning method is verified. A series of simulation results show that the position error of forward kinematics test and inverse kinematics trajectory tracking is about the level, and the Angle error is about the level. According to the dual-arm capture obtained by the genetic algorithm, the final offset Angle of the base is [-0.2204°, -0.4619°, 0.6801°].Aiming at the open chain and closed chain operation of space robot, combined with the analysis of mechanics theory, the establishment process of the dynamic equation of continuous manipulator was discussed. The dynamic equation theory in the dynamic modeling problem of RCSR system is summarized, and according to the dynamic characteristics and constraint characteristics of the RCSR system in the free floating and closed chain grasp scenarios, the system dynamic model is established by using the Kane equation of analytical mechanics. Through the forward solution of the dynamic equation, it is concluded that the first-order dynamic response and the velocity-level response are smooth and controllable, and the second-order velocity integration over time matches the trend and quantity of the first-order Angle.Finally, a planar RCSR ground experiment system consisting of a three-degree-of-freedom planar rigid arm and a three-degree-of-freedom planar roped-driven flexible arm is constructed for the first time, and a typical collaborative operation scenario in which both arms are used as task manipulator arms is demonstrated.In this project, the kinematic and dynamic models of the RCSR system are established and a series of planning and control methods are studied, which makes a high contribution to the follow-up research work of the system and the on-orbit service technology.
