小天体采样机器人耦合交互作用机理及主被动柔顺操控方法研究

小天体表层采样是研究太阳系起源与演化的重要途径，空间机器人柔顺操控是实现采样的关键技术之一。星表环境的高度不确定性要求空间机器人具备较强的环境适应性和交互能力。当前，主流的“触碰即飞”采样通过控制基体实现采样，并未充分发挥机械臂的操控能力，导致采样效率低，安全性差。为此，本项目以“连续接触”扫掠式采样为目标，基于变刚度柔性关节技术，通过利用“机械柔顺”和“控制柔顺”的互补优势，开展主被动复合柔顺操控研究。首先，建立“基体-机械臂-环境”的多层级耦合交互模型，推导采样碰撞效应函数，解析二者作用下系统的运动/力行为。其次，提出基于补偿规划与解耦控制的精准扫掠操控方法，以抵消动力学耦合对系统的干扰。再次，提出基于刚度自适应匹配的主被动复合柔顺控制策略，实现安全、稳定的柔顺采样。最后，搭建地面模拟平台验证以上方法。研究成果有望突破小天体柔顺采样技术瓶颈，为未来采样任务提供理论基础和技术支撑。

Small body surface sampling is an important way to investigate the origin and evolution of the solar system, and the compliant manipulation of space robots is one of the key technologies for realizing the sampling task. The high uncertainty of the small body surface environment requires space robots to have strong environmental adaptability and interaction ability. Currently, the mainstream sampling method, “touch-and-go”, accomplishes the sampling task by controlling the base, and the manipulability of the robotic arm is not fully utilized, which results in low sampling efficiency and poor safety. Therefore, this project aims at the “continuous contact” sweep sampling, and studies the active and passive composite compliant manipulation technology by making fully use of the complementary advantages of “mechanical compliance” and “control compliance” based on the variable stiffness flexible joint technology. First, the multi-level coupling interaction model of “base-manipulator-environment” is established; the sampling collision effect function is deduced; and the motion/force behavior of the system is analyzed under consideration of both coupling and collision effects. Then, the accurate sweeping manipulation method based on the compensation planning and the decoupling control is proposed to compensate the interference of dynamic coupling to the system. Furthermore, an active and passive composite compliant control strategy based on the adaptive stiffness match is proposed to achieve the safe and stable compliant sampling. Finally, a ground simulation platform is established to verify the above methods. The research results are expected to break through the bottleneck of compliant sampling technologies for small bodies and provide the theoretical foundation and technical support for the future sampling task.