Capturing dynamics of a space manipulator end-effector with snare capture and retract operations

被引：3
作者：
Li, Haiquan [1 ,2 ,3 ]
Liu, Qian [4 ,5 ]
Wu, Shuang [6 ,7 ]
Ma, Wei [6 ,7 ]
Wang, Zhaokui [3 ]
机构：
[1] Univ Sci & Technol Beijing, Sch Mech Engn, Beijing 100083, Peoples R China
[2] Beijing Key Lab lightweight Met Forming, Beijing 100083, Peoples R China
[3] Tsinghua Univ, Sch Aerosp Engn, Beijing 100084, Peoples R China
[4] Beijing Aerosp Control Ctr, Beijing 100094, Peoples R China
[5] Key Lab Sci & Technol Aerosp Flight Dynam, Beijing 100094, Peoples R China
[6] Beijing Key Lab Intelligent Space Robot Syst Techn, Beijing 100094, Peoples R China
[7] Beijing Inst Spacecraft Syst Engn, Beijing 100094, Peoples R China
来源：
AEROSPACE SCIENCE AND TECHNOLOGY | 2023年 / 136卷
基金：
中国博士后科学基金; 中国国家自然科学基金;
关键词：
Space manipulator; End-effector; Capture; On-orbit task; Contact dynamics; ROBOTS; OBJECT;
D O I：
10.1016/j.ast.2023.108239
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
Due to the importance of space manipulators in on-orbit servicing tasks, capturing operations by using a space manipulator, which involves complicated contact has been widely studied. The complicated contact feature brings great challenges to the analysis of the capturing operations. A capturing dynamics model of an end-effector with snare capture and retract operations is developed in this work. The proposed model is validated by comparisons with experimental results of a hardware-in-the-loop facility. Validation results indicate that the presented model can be used in simulations for on-orbit capturing tasks. Therefore, simulation cases of tasks for capturing a floating target and a fixed one are conducted. Finally, practical suggestions for on-orbit operations are proposed according to the simulation results.(c) 2023 Elsevier Masson SAS. All rights reserved.
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页数：9
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