关键词: 多层映射模型, 空间机械臂, 灵敏度, 响应面法, 运动可靠性

Abstract:

Considering the high reliability requirement for on-orbit operation of space manipulator, the sensitivity of motion reliability, which is adopted as the rule of planning missions and developing control strategy, is analysed based on the multilayer mapping model of factors influencing motion reliability. Taking the geometrical parameters, control variables and flexible factors into account, the multilayer mapping model is established, which can represent the coupling relations of factors and the recursion relations to motion reliability. On the basis, the limit state function is constructed with the mission constraints of space manipulator. And sensitivity is calculated by the introduction of the nonlinear response surface method with high efficiency. As a result, the continuous partial derivatives on multi-dimensional integral function are avoided and the real-time requirement for sensitivity analysis is guaranteed. By simulation experiments, the sensitivity of each factor influencing motion reliability of space manipulator is analysed. The validity of the multilayer mapping model is verified and the effectiveness of response surface method is also proved in sensitivity analysis of motion reliability. Further, the time-varying characteristics of sensitivity during missions are discussed.

Key words: multilayer mapping model, response surface method, sensitivity, space manipulator, motion reliability