设计了一种柔性减速刷消旋机构，将其安装于七自由度机械臂的末端，通过与翻滚目标帆板之间的接触碰撞进行消旋。利用绝对节点坐标法推导了柔性减速刷的动力学模型，并对其接触碰撞进行分析。针对自由漂浮空间机器人动力学建模和基座姿态的控制进行了研究，采用基于计算力矩法的滑模控制策略，对末端参数不确定的七自由度机械臂进行控制。滑模控制具有快速响应、对参数变化及扰动不灵敏等特点，确保了系统的全局鲁棒性和稳定性。有利于节省消旋时间，提高消旋效率。通过PD控制和滑模控制消旋仿真验证，该消旋策略能够成功消除初始旋转速度，消旋程度达90%以上，具有可行性与有效性。
A despun mechanism for a flexible deceleration brush is designed and installed at the end of the seven-degree-freedom robotic arm. Despun is achieved through a contact collision with the tumbling target sailboard. A dynamic model for the flexible deceleration brush is derived by using the absolute nodal coordinate formulation, and the contact collision of the brush is analyzed. The dynamic modeling of the free-floating space robot and the control of the base attitude are studied. By using the sliding mode control based on the computed torque method, a seven-degree-freedom robotic arm with uncertain terminal parameters is controlled. The sliding mode control has the characteristics of fast response and in-sensitivity to parameter changes and disturbance, ensuring the global robustness and stability of the system. It is beneficial to reduce the despun time and improves the efficiency of the despun. The results of despun simulation of PD control and sliding mode control show that the strategy can successfully eliminate the initial rotation speed. The degree of despun is over 90%, which is feasible and effective.
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