JAXA % ~ 20% Fig. 1 Schematic diagram of 4-DOF humanoid manipulator composition 7 3 L 1 ~ L q = 9 q 1 q

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1 Electri c Machines and Control Vol. 21 No. 12 Dec :,,, Klein,, PSO,, : ; ; ; ; DOI: /j. emc TP A X Driving force difference and model of space manipulator under gravity and its release QIN Li 1 LI Qian 1 YAN Li-li 1 LIU Fu-cai 1 WANG Wen-kui 2 1. Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao China 2. Material Science and Engineering institute Yanshan University Qinhuangdao China Abstract In order to minimize energy consumption reduce design margin of driving torque and improve control accuracy for spatial mechanism the 4-DOF humanoid manipulator is taken as the object to study the driving forces under different gravity environments and the key influencing factors. Firstly the dynamic model of 4-DOF humanoid manipulator was established based on Klein operator and principle of virtual work. Then the influence of friction joint angular velocity and end-loads on driving torque was studied by simulation and the key factor affecting the spatial driving torque was analyzed. Then the test platform was built to study the driving torque difference under different orientations of the joint axis. Test results verified the correctness of the simulation analysis. Finally the friction model was modified based on the test results and the PSO algorithm was used to identify the model parameters. The model of joint friction applicable for different gravity environments is obtained and the theoretical model is improved. Keywords space manipulator gravity effects driving torque friction model ground test : 863 ( 2012AA) ; ( ) ; ( F ,F ) : ( 1984 ),,,, ; ( 1992 ),,, ; ( 1992 ),,, ; ( 1966 ),,,, ; ( 1937 ),,,, :

2 JAXA % ~ 20% Fig. 1 Schematic diagram of 4-DOF humanoid manipulator composition 7 3 L 1 ~ L q = 9 q 1 q 2 q 3 q 4 T q 1 ~ q 4 Makkar 12 1

3 68 21 T f q = r 1 tanh r 2 q - tanh r 3 q + r 4 tanh r 5 q + r 6 q 1 r i > 0 i = r 1 + r 4 tanh r 2 q - tanh r 3 q Stribeck r 6 q r 4 tanh r 5 q T f q Fig. 2 Fig. 3 2 Schematic diagram of 5R 2-DOF SPM 3 Schematic diagram of coordinates F = - ma cm 13 KL $ 3 cml2 F L1 + KL $ 3 cml3 F L2 + KL $ 3 cml4 F L3 + τ 3 - τ f3 q3 + KL $ facm4 F fa + τ 4 - τ f4 q4 = 0 5 τ 1 = - KL $ scm1 F s + KL $ uacm1 F ua + KL $ facm1 F fa + KL $ scml1 F L1 + V scm = $ scm1 q 1 KL $ scml2 F L2 + KL $ scml3 F L3 + V uacm = $ uacm1 q 1 + $ 2 uacml4q 2 + $ 3 uacml4q 3 KL $ scml4 F L4 + τ f1 V facm = $ facm1 q 1 + $ 2 facml4q 2 + $ 3 facml4q 3 + $ facml4 q 4 τ 2 = - KL $ 2 uacml4 F + KL $ 2 facml4 F + V Lncm = $ scmln q 1 + $ 2 cmlnq 2 + $ 3 cmlnq 3 KL $ 2 cml1 F + KL $ 2 cml2 F + 2 KL $ 2 cml3 F + KL $ 2 cml4 F + τ f2 $ Δcm* τ 3 = - KL $ 3 uacml4 F + KL $ 3 facml4 F + 3 KL $ 3 cml1 F + KL $ 3 cml2 F L1 + - Iω + ω Iω T + - mgg r cm mgg T f e + τ e T 3 a cm I ω ω g r cm f e τ e Klein W = KL V scm F s + KL V uacm F ua + KL V facm F fa + KL V L1cm F L1 + KL V L2cm F L2 + KL V L3cm F L3 + KL V L4cm F L4 + τ 1 - τ f1 q 1 + τ 2 - τ f2 q 2 + τ 3 - τ f3 q 3 + τ 4 - τ f4 q 4 4 τ i τ fi KL $ scm1 F s + KL $ uacm1 F ua + KL $ facm1 F fa + KL $ scml1 F L1 + KL $ scml2 F L2 + KL $ scml3 F L3 + KL $ scml4 F L4 + τ τ f1 q KL $ 2 uacml4 F + KL $ 2 facml4 F + KL $ 2 cml1 F + KL $ 2 cml2 F + KL $ 2 cml3 F + KL $ 2 cml4 F + τ 2 - τ f2 q2 + KL $ 3 uacml4 F + KL $ 3 facml4 F + KL $ 3 cml1 F +

4 12 69 τ 4 KL $ 3 cml3 F L2 + KL $ 3 cml4 F L3 + τ f3 = - KL $ facm4 F fa + τ f4 6 q τ = M q q + B q q + G q + T f q 7 T f q = 1 τ = τ 1 τ 2 τ 3 τ 4 T 2 τ + - τ - 8 τ M q R 4 4 B q q R τ - G q R 4 G q = 0 2 Table 2 Simulation condition settings T f q 2 1 g = Matlab R2012a Simulink ode T T 1 2 Table 1 /mm /kg /rad 1 Simulation parameters of space manipulator a 1 = 75 d 4 = 388 d 5 = 298 r L1 = 30 r L2 = 30 r L 3 = 55 r L4 = 45 m ua = m s = m fa = 0. 7 m L1 = m L2 = m L3 = m L4 = q = T kg 10 deg /s T f q = 0 T f q 0 r 1 = 0. 5 r 2 = 150 r 3 = 50 r 4 = 2 r 5 = 100 r 6 = 0. 5 r 1 = 0. 5 r 2 = 150 r 3 = 50 r 4 = 2 r 5 = 100 r 6 = g = kg 3 g = deg /s 5 deg /s 10 deg /s 15 deg /s 20 deg /s r 1 = 0. 5 r 2 = 150 r 3 = 50 r 4 = 2 r 5 = 100 r 6 = deg /s kg kg kg kg / N m /rad τ = K p e + K d e + G + T f q 1 = 0 q 3 = 0 q 4 = 0-5π / πt / 9T t 0 T /2 q 2 = { 5π /18-10πt / 9T t T /2 T Fig. 4 Driving torque of the big arm with or without friction under different gravity conditions / 5 5 a 5 b 1 /6

5 Fig. 5 end-loads and gravity conditions Driving torque of the big arm under different joint velocity and gravity conditions 6 Fig. 6 Driving torque of the big arm under different g = deg /s rad s kg a 6 b Fig. 7 Space driving torque with different friction simulation coefficients

6 PC Table 4 Mechanical properties of materials used in manipulator / / / 5R 2-DOF SPM 45 2A g /cm GP g /cm 3 68 GP Fig Table 5 Table of hardware selection in control system Friction torque with different friction coefficients 8 0 ~ rad s -1 3 r 4 r 6 EC-max W Table 3 3 Table of simulation parameters of friction model r 1 r 2 r 3 r 4 r 5 r SPiiPlus-LF ACJ ± 10 V RS232 PC 24 V r /min 328 ma r /min 183 mn m A mnm /A GP52C 19 1 MaxonHEDL APM-C3A mm DC12 /24V PC 9

72 21 11 11 a 11 b Fig. 9 9 Experiment images of 4-DOF humanoid manipulator 3. 1 Fig.

7 a 11 b Fig. 9 9 Experiment images of 4-DOF humanoid manipulator 3. 1 Fig. 10 Driving torque of the big arm with different joint velocities and different orientations of the joint axis PSO deg /s 3 deg /s 4 deg /s kg 10

8 deg /s 13 r 4 cosqtanh r 5 q 11 Fig. 11 Driving torque of the big arm with different end-loads and different orientations 13 of the joint axis. Fig. 13 Identification results of friction characteristic 13 q 2 = 0 PSO 12 Fig. 12 Friction torque of the big arm with different orientations of the joint axis. T f q = 0. 8 tanh 100q - tanh 0. 2q cos π 2 + q tanh 100q q 2 ~ 3 9

9 74 21 T f q = tanh 200q - tanh 0. 18q tanh 100q q kg 10 deg /s experiment of a space robotic arm using parabolic flight J. Advanced Fig. 14 Simulation results of driving torque based on identified friction model Robotics MATUNAGA S. Micro-gravity experiments of spac-e robotics and space-used mechanisms at tokyo in-stitute of technology J. Journal of The Japan Society of Microgravity Application OBARA S SATO M. Numerical investigation of influence of gravity on the performance of ball bearings assembled in a space device 4 1. J WANG Wenkui. Simulation study on motion behavior of spacecraft mechanisms J. Manned Spaceflight NAGATAMO M MITOME T KAWASAKI K et al. MFD robot arm and its flight experiment C / / Asce Specialty Conference and Exposition on Engi-neering Construction and Operations in Space. USA ASCE HIROKATA S KYOICHI U MAKOTO M et al. Micro-gravity C / /Proc. 2nd World Tribology Congress J LI Junlan YAN Shaoze WU Xiaoyan et al. Effects of gravity potrntial on frequency of deployable panel structures J. Journal of Tsinghua University Science and Technology

10 84 21 EMG generation J. Computer Simulation tion algorithm based on matching pursuit J. Radio Communi- 7. cations Technology J YANG Dapeng ZHAO Jingdong LI Nan et al. Recognition of hand grasp preshaping patterns applied to prosthetic hand electromyography control J. Journal of Mechanical Engineering D. J. IEEE Transactions on Systems Man and Cybernetics Graupe D. Multifunctional prothesis and orthosis control via microcomputer identification of temporal pattern differences in J single LIU Jian ZOU Renling ZHANG Dongheng et al. Research and development trend of feature extraction methods of surface electromyogrphic signals J. Progress in Biomedical Engineering J YOU Bo LIU Yi ZHAO Hanqing et al. A model of human J XU Tao CAO Jihua QU Lihua. A blind speech source separa- 11 REDDY N Y GUPTA V. Toward direct biocontrol using surface EMG signals control of finger and wrist joint models J. Medical Engineering & Physics GRAUPE D CLINE W K. Functional separation of EMG signal via AMAR identification methods for prosthesis control purposes site myoelectric signals J. Journal of Biomedical Engineering ( : ) 檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪檪 LIN YIming LI Daming WANG Yaobing et al. Current status J and analysis of space robot. Spacecr-aft Engineering J LIU Zhiquan WEI Qingqing WANG Yaobing. Detailed Joint Dy namic Modeling and Joint Torque Control System of Space Manipulators J. Journal of Astronautics LIU Hong JIANG Zainan LIU Yechao. Review of Space Manipu- J lator Technology J. Manned Spacef-light WU Wenqiang ZHU Shiqiang WANG Xuanyin et al. Slow mo- 12 MAKKAR C DIXON W E SAWYER W G et al. A new continuously differentiable friction model for control systems design tion control of serial robots with friction compensation based on fuzzy logic system J. Electric Machines and Control C / /2005 IEEE /ASME International Conference on Advanced Intelligent Me-chatronics. Piscataway USA IEEE J QIN Li LIANG Lihuan LIU Fucai et al. The application of a- XIE Limin CHEN Li. Robust and adaptive control of free-floating daptive backstepping sliding mode for hybrid humanoid robot arm flexible space manipulator with bounded control torques J. Journal of mechanical engineering J J trajectory tracking control J. Advances in Mechanical Engineering ( : )

Fig. 1 1 The sketch for forced lead shear damper mm 45 mm 4 mm 200 mm 25 mm 2 mm mm Table 2 The energy dissip

Fig. 1 1 The sketch for forced lead shear damper mm 45 mm 4 mm 200 mm 25 mm 2 mm mm Table 2 The energy dissip * - 1 1 2 3 1. 100124 2. 100124 3. 210018 - ABAQUS - DOI 10. 13204 /j. gyjz201511033 EXPERIMENTAL STUDY AND THEORETICAL MODEL OF A NEW TYPE OF STEEL-LEAD DAMPING Shen Fei 1 Xue Suduo 1 Peng Lingyun 2 Ye