Paper Title :On the Dynamic Analysis of Free-Flying and Free-Floating Behaviors of a Flexible Space Robot
Author :Ramin Masoudi
Article Citation :Ramin Masoudi ,
(2017 ) " On the Dynamic Analysis of Free-Flying and Free-Floating Behaviors of a Flexible Space Robot " ,
International Journal of Mechanical and Production Engineering (IJMPE) ,
pp. 74-81,
Volume-5,Issue-9
Abstract : The dynamic behavior of a space robot, considering free-flying and free-floating modes of operation for the
shuttle/spacecraft motion, is studied in this paper. For the free-flying space manipulator, the governing equations of motion are
derived by means of Lagrange’s approach. For the free-floating mode, Kane’s method is used to facilitate deriving the
equations governing the nonholonomic behavior of the robot manipulator. Assumed mode method, incorporating
quasi-comparison functions, is employed to express elastic displacements of the flexible arms. For both space robots, the
resulting nonlinear problem is separated into two sets of equations by a perturbation approach; one for rigid-body maneuvering
of the robot and the other for elastic vibrations and rigid-body perturbations. The kinematic redundancy of the free-flying space
robot is removed, assuming that attitude of the spacecraft is controlled during the maneuvering and conservation of linear
momentum is governed on the rigid robot. Accordingly, path planning of the free-flying space robot can be accomplished
analytically. In the free-floating mode, the kinematic redundancy is removed by imposing both conservation of linear and
angular momentums on the manipulator system. Since the conservation of angular momentum is nonintegrable, the
free-floating robot manipulator behaves as a nonholonomicsystem; hereby the trajectory tracking in the free-floating mode is
done numerically. A numerical example is presented to establish a comparison between the dynamic behaviors of the two
robotic systems.
Index Terms - Space robot, Kane’s dynamics,Lagrange’s dynamics,free-flying, free-floating.
Type : Research paper
Published : Volume-5,Issue-9
DOIONLINE NO - IJMPE-IRAJ-DOIONLINE-9319
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Published on 2017-11-23 |
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