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singularity analysis and avoidance for an SSRMS-type reconfigurable space manipulator with a non-spherical wrist and two lockable passive telescopic links

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Chinese Journal of Aeronautics 2024年第8期37卷 435-459页

作者： Zhiyuan ZHAO Xiaohang YANG Yuntao LI Zichun XU Jingdong ZHAO Hong LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This study focuses on addressing kinematic singularity analysis and avoidance issues for a space station remote manipulator system(SSRMS)-type reconfigurable space *** manipulator is equipped with a non-spherical wrist and two lockable passive telescopic links(LPTLs),which enable it to have both active revolute and passive prismatic joints and operate in two distinct *** begin with the kinematic singularity analysis,the study derives the differential kinematic equations for the manipulator and identifies the dominant Jacobian matrix that causes ***,an in-depth analysis of singularities from multiple perspectives is ***,a kinematic singularity map method is proposed to capture the distribution of singularities within the reachable ***,the influence of the two LPTLs on singularities is thoroughly ***,a new method based on the matrix rank equivalence principle is introduced to determine singularity conditions,enabling the identification of all the singular configurations for the SSRMS-type reconfigurable ***,this method significantly reduces computational complexity,and the singularity conditions obtained have more concise *** the singularity avoidance problem,a novel method is developed,which simultaneously addresses the requirements of real-time performance,high precision,and the avoidance of both kinematic singularities and joint limit *** from these excellent properties,the proposed method can effectively resolve the singularity issues encountered separately by the SSRMS-type reconfigurable manipulator in its two operational *** typical simulations validate the utility of all the proposed methods.

关键词： Reconfigurable space manipulator Redundant manipulator Kinematics singularity analysis singularity avoidance

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singularity analysis for single gimbal control moment gyroscope system using space expansion method

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Chinese Journal of Aeronautics 2018年第4期31卷 782-794页

作者： Yunhua WU Feng HAN Bing HUA Zhiming CHEN Feng YU School of Astronautics Nanjing University of Aeronautics and Astronautics School of Astronautics Harbin Institute of Technology

Control Moment Gyroscope（CMG） is an effective candidate for agile satellites and large spacecraft attitude control because of its powerful torque amplification capability. The most serious situation, however, in using CMG is the inherent geometric singularity problem, where there＇s no torque output along a particular direction. Space expansion method has been proposed in this work for the singularity analysis. Based on inverse mapping transformation, an expanded Jacobian matrix which is a full rank square matrix is obtained. The singular angle sets of the 3-parallel cluster and pyramid cluster are distinguished using space expansion method. An effective hybrid steering strategy, able to deal with the elliptic singularity, is further proposed. Simulation results demonstrate the excellent performance of the proposed steering logic compared to the generalized singular robust logic and pseudo inverse logic in terms of energy consumption and torque error.

关键词： Agile spacecraft Control moment gyro singularity analysis Space expansion method Steering strategy

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singularity analysis of a two-dimensional elastic cable with 1:1 internal resonance

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Applied Mathematics and Mechanics(English Edition) 2010年第2期31卷 143-150页

作者：秦朝红陈予恕李军 The School of Astronautics Harbin Institute of Technology

A two-degree-of-freedom bifurcation system for an elastic cable with 1：1 internal resonance is investigated in this paper. The transition set of the system is obtained with the singularity theory for three cases. The whole parametric plane is divided into several different persistent regions by the transition set. The bifurcation diagrams in different persistent regions are obtained.

关键词： two-degree-of-freedom bifurcation system elastic cable singularity analysis

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singularity analysis of Duffing-van der Pol system with two bifurcation parameters under multi-frequency excitations

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Applied Mathematics and Mechanics(English Edition) 2010年第8期31卷 1019-1026页

作者：秦朝红陈予恕 The School of Astronautics Harbin Institute of Technology The School of Mechanical Engineering Tianjin University

Bifurcation properties of a Duffing-van der Pol system with two parameters under multi-frequency excitations are studied. Three cases are discussed：（1） λ 1 is considered as bifurcation parameter, （2） λ 2 is considered as bifurcation parameter, and （3） λ 1 and λ 2 are both considered as bifurcation parameters. According to the definition of transition sets, the whole parametric space is divided into several different persistent regions by the transition sets for different cases. The bifurcation diagrams in different persistent regions are obtained, which provides a theoretical basis for optimal design of the system.

关键词： Duffing-van der Pol system two parameters singularity analysis

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A novel method for singularity analysis of the 6-SPS parallel mechanisms

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Science China(Technological Sciences) 2011年第5期54卷 1220-1227页

作者： CHENG ShiLi WU HongTao WANG ChaoQun YAO Yu ZHU JianYing College of Mechanical & Electrical Engineering Nanjing University of Aeronautics & Astronautics Nanjing 210016 China College of Engineering Nanjing Agricultural University Nanjing 210031 China College of Aerospace Engineering Nanjing University of Aeronautics & Astronautics Nanjing 210016 China

singularity analysis is a basic problem of parallel mechanism, and this problem cannot be avoided in both workspace and motion planning. How to express the singularity locus in an analytical form is the research emphasis for many researchers for a long time. This paper presents a new method for the singularity analysis of the 6-SPS parallel mechanism. The rotation matrix is described by quaternion, and both the rotation matrix and the coordinate vectors have been expanded to four-dimensional forms. Through analyzing the coupling relationship between the position variables and the orientation variables, utilizing properties of the quaternion, eight equivalent equations can be obtained. A new kind of Jacobian matrix is derived from those equations, and the analytical expression of the singularity locus is obtained by calculating the determinant of the new Jacobian matrix. The singularity analysis of parallel mechanisms, whose moving platform actuated by 6 links and the vertices of both the base and the moving platforms has been placed on a circle respectively, can be solved by this analytical expression.

关键词： parallel mechanism singularity analysis quaternion Jacobian matrix

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POTENTIAL INVERSION PROBLEMS FOR COUPLED SYSTEM OF DOWNGOING AND UPCOMING ONE-WAY WAVE EQUATIONS

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Journal of Computational Mathematics 1998年第6期16卷 551-560页

作者： Zhang, GQ Dou, XL Chinese Acad Sci ICMSEC State Key Lab Sci & Engn Comp Beijing 100080 Peoples R China Beijing Res Inst Remote Sensing Informat Beijing 100011 Peoples R China

By using wave splitting method the formulation of the two-dimensional potential inversion problem is set up in terms of the coupled system for downgoing and upcoming wavefields. The boundary counditions on the characteristic surface needed for solving the problem are derived by singularity analysis. Two stability theorems are given for the direct problems of the system treated as Cauchy problems in the direction of depth.

关键词： 2-D potential inversion wave splitting singularity analysis

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Error analysis and a new steering law design for spacecraft control system using SGCMGs

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Acta Mechanica Sinica 2011年第5期27卷 803-808页

作者： Jin Jin Jing-Rui Zhang Zao-Zhen Liu Beijing Institute of Technology School of Aerospace Engineering100081 Beijing China

Based on the singular value decomposition theory,this paper analyzed the mechanism of escaping/avoiding singularity using generalized and weighted singularity-robust steering laws for a spacecraft that uses single gimbal control moment gyros （SGCMGs） as the actuator for the attitude control *** expression of output-torque error is given at the point of singularity,proving the incompatible relationship between the gimbal rate and the output-torque *** method of establishing a balance between the gimbal rate and the output-torque error is discussed,and a new steering law is *** results show that the proposed steering law can effectively drive SGCMGs to escape away from singularities.

关键词： Single gimbal control moment gyros (SGCMGs) Attitude control singularity analysis Steering law

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Parameter Optimization of a Stability-Training Platform's 4-PSS/PS Parallel Mechanism Based on Training Ability Evaluation Index and PSO Algorithm

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Chinese Journal of Mechanical Engineering 2018年第3期31卷 37-47页

作者： Wei-Guo Wu Li-Yang Gao School of Mechatronics Engineering Harbin Institute of Technology

The existing mechanism parameter optimization(MPO) method of parallel mechanisms only considers the workspace size and ignores contribution of each configuration's performance. So a novel MPO method is proposed for our serial?parallel mechanism platform,which is used in stability training of legged robots. Regarding the platform's parallel mechanism part,a 4?PSS/PS parallel mechanism,two object functions and three constraint conditions are defined to establish the MPO model. The first object function uses critical motion indexes of the moving platform. The second one uses derivative function of the defined disturbance Lagrange function. After analyzing stability?training require?ments of five existing legged robots,requirements of the platform's motion capability are given out. Regarding each proposed object function separately,the MPO model is solved by the particle swarm optimization(PSO) algorithm. Valid workspace boundaries corresponding to the optimization results are solved by a numerical method. The overall optimal solution is determined based on volume of the valid workspace. It is revealed that the two object functions result in similar optimization solutions,which shows that the proposed object functions can reflect the stability?training ability consistently. This paper proposes and verifies the established MPO model,which considers both the workspace size and configurations' performance evaluation.

关键词： Stability training 4?PSS/PS parallel mechanism Mechanism parameter optimization singularity analysis Particle swarm optimization

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