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.

引用

页数：9