基于CAN总线控制系统的航天特种机械臂设计
2023,31(5):114-119
摘要：航天特种机械臂具备精确操作和视觉识别的能力，在载人航天领域中广泛应用，为了在复杂环境中精准完成陆基装配任务，设计基于CAN总线控制系统的航天特种机械臂。从关节、连杆、驱动电机、锁紧制动器等方面，组装航天特种机械臂结构元件。装设航天特种机械臂控制器，在控制器中加设一个串行通信接口，将控制器连接到CAN总线中，配置CAN总线控制系统的通信协议，完成航天特种机械臂硬件结构设计。利用航天特种机械臂中传感器设备，检测航天特种机械臂实时位姿，补偿航天特种机械臂重力负载。根据机械臂工作任务，规划移动轨迹，在控制器的支持下，通过控制量的计算与通信，实现航天特种机械臂的控制功能。性能测试实验表明，设计基于CAN总线控制系统的航天特种机械臂平均位置和关节姿态角的控制误差分别为3.0m和0.32°，平均形变量为2.64m2，具有较好的控制性能和抗压性能。
关键词：CAN总线;控制系统;航天机械臂;特种机械臂;
Design of aerospace special manipulator based on CAN bus control system
Abstract：The space special manipulator has the ability of precise operation and visual recognition, and is widely used in the field of manned spaceflight. In order to accurately complete space tasks in complex environments, the space special manipulator based on CAN bus control system is designed. The structural elements of the special space manipulator are assembled from the aspects of joints, connecting rods, drive motors and locking brakes. The controller of aerospace special manipulator is installed, a serial communication interface is added in the controller, the controller is connected to the CAN bus, the communication protocol of the CAN bus control system is configured, and the hardware structure design of aerospace special manipulator is completed. The real-time position and attitude of the space special manipulator are detected by the sensor equipment in the space special manipulator, and the gravity load of the space special manipulator is compensated. According to the work task of the manipulator, the movement trajectory is planned. With the support of the controller, the control function of the space special manipulator is realized through the calculation and communication of the control quantity. The performance test results show that the control errors of the average position and joint attitude angle of the space special manipulator designed based on the CAN bus control system are 3.0m and 0.32 ° respectively, and the average shape variable is 2.64m2, which has good control performance and compression resistance.
Key words：CAN bus; Control system; Aerospace manipulator; Special manipulator;
收稿日期：2022-09-20
基金项目：
