Zhang, Long (2022) Configuration Optimization for Free-Floating Space Robot Capturing Tumbling Target. Aerospace, 9 (2). p. 69. ISSN 2226-4310
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Abstract
The maximum contact force is one of the most important indicators for contact problems. In this paper, the configuration optimization is conducted to reduce the maximum contact force for a free-floating space robot capturing tumbling target. First, the dynamics model of a free-floating space robot is given, with which the inertial properties perceived at the end-effector can be derived. Combing the inertial properties of the contact bodies, a novel concept of integrated effective mass is proposed. It tries to transform the complex contact process into the energy change of a virtual single body with integrated effective mass. On this basis, a more general continuous contact model is established, which is also suitable for non-central collisions between space robot and the tumbling target. Thereafter, the maximum contact force is derived as an important indicator for the null-space optimization method to reduce the maximum contact force. Finally, numerical simulations with a 3-degree-of-freedom free-floating space robot and a 7-degree-of-freedom free-floating space robot, as the research objects, are carried out respectively and the results show the effectiveness of the method proposed.
Item Type: | Article |
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Subjects: | Digital Open Archives > Engineering |
Depositing User: | Unnamed user with email support@digiopenarchives.com |
Date Deposited: | 29 Mar 2023 06:17 |
Last Modified: | 19 Sep 2024 09:24 |
URI: | http://geographical.openuniversityarchive.com/id/eprint/720 |