Space-deformable truss inverse kinematic calculation method and system

A technology of inverse kinematics and calculation methods, applied in calculation, design optimization/simulation, image data processing, etc., can solve problems that are difficult to solve, and the amount of calculations in multi-level truss inverse kinematics is large

Inactive Publication Date: 2018-10-16
BEIJING INST OF CONTROL ENG
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Problems solved by technology

[0004] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, to provide a space deformable truss inverse kinematics calculation method and system, and to solve the problem that the multi-stage truss inverse kinematics has a large amount of computation and is difficult to solve

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  • Space-deformable truss inverse kinematic calculation method and system
  • Space-deformable truss inverse kinematic calculation method and system
  • Space-deformable truss inverse kinematic calculation method and system

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Embodiment

[0205] Taking the inverse kinematics of a deformable truss in a certain space as an example, the number of truss series is N=6, the length of the fixed rod is w=1m, and the expected terminal working point D(-2,-2,8) is given.

[0206] First, number the truss units at all levels and establish a coordinate system. In the original length state, the truss is vertical. In the 1st to 3rd truss units, the two sides parallel to the XOZ plane are the active rod faces that move synchronously, and the two sides parallel to the YOZ are the passive rod faces; in the 4th to 6th truss units, the The two sides of the club are active club faces that move synchronously, and the two sides parallel to the XOZ plane are passive club faces.

[0207] Set the target point D of the first stage 1 (-2,0,4), working point E of the third-level truss element 1 . Keeping the y-axis coordinates unchanged, calculate the projection of the 1st to N / 2-level truss elements on the XOZ plane. Firstly, calculat...

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Abstract

The invention discloses a space-deformable truss inverse kinematic calculation method and system. The method comprises the following steps of: constructing a space-deformable truss; establishing a base coordinate system OXYZ; establishing all levels of truss unit coordinate systems; obtaining working target points D (xd, yd and zd) in the coordinate system OXYZ, and calculating first stage targetpoints D1 (xd, 0 and zd/2); calculating projection points, on a coordinate system plane which is parallel to an active rod surface and belongs to a corresponding truss unit coordinate system, of workpoints of each level in the first level to the N/2 level, forming a coordinate set through the projection points, and obtaining a single-level work space density function according to the coordinate set; taking a work point which enables E1 to have a maximum probability density function at D1 as a work point of the level; obtaining each rod length of the first to N/2 levels of truss units; and obtaining active rod lengths of the N/2+1 to N levels of truss units. The method and system are capable of solving the problem that the multi-level e truss inverse kinematic operation is large in amountand difficult to solve.

Description

technical field [0001] The invention belongs to the field of kinematics of a space operating mechanism, and in particular relates to a calculation method and system for inverse kinematics of a space deformable truss. Background technique [0002] A variable geometry truss (Variable Geometry Truss, VGT) means that the spatial structure of the truss is determined and the geometric parameters are variable, and the position and attitude of the end load can be moved by adjusting the length of some members. It is a kind of space operation mechanism, which can realize tasks such as on-orbit operation and on-orbit refueling. [0003] On the inverse kinematics of VGT, Miura and Furuya proposed a set of equations that describe the VGT nonlinear geometric model with three angle values ​​as variables, and Furuya proposed a set of equations that describe the VGT nonlinear geometric model with three angle values ​​as variables The equation, Hughes gave the inverse kinematics based on VGT...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50G06T17/10
CPCG06T17/10G06F30/20
Inventor 邓雅张锦江王泽国
Owner BEIJING INST OF CONTROL ENG
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