Dynamics analysis of space robot manipulator with joint clearance

被引：105

作者：

Zhao, Yang ^{[1
]}

Bai, Zheng Feng ^{[1
]}

机构：

[1] Harbin Inst Technol, Dept Astronaut Engn, Harbin 150001, Heilongjiang, Peoples R China

来源：

ACTA ASTRONAUTICA | 2011年 / 68卷 / 7-8期

基金：

中国国家自然科学基金;

关键词：

Joint clearance; Space robotics; Contact; Robot dynamics; Dynamics simulation; SLIDER-CRANK MECHANISM; MULTIBODY SYSTEMS; REVOLUTE JOINTS; FORCE MODEL; PLANAR; SIMULATION;

D O I：

10.1016/j.actaastro.2010.10.004

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

A computational methodology for analysis of space robot manipulator systems, considering the effects of the clearances in the joint, is presented. The contact dynamics model in joint clearance is established using the nonlinear equivalent spring-damp model and the friction effect is considered using the Coulomb friction model. The space robot system dynamic equation of manipulator with clearance is established. Then the dynamics simulation is presented and the dynamics characteristics of robot manipulator with clearance are analyzed. This work provides a practical method to analyze the dynamics characteristics of space robot manipulator with joint clearance and improves the engineering application. The computational methodology can predict the effects of clearance on space robot manipulator preferably, which is the basis of space robot manipulator design, precision analysis and ground test. (C) 2010 Elsevier Ltd. All rights reserved.

引用

页码：1147 / 1155

页数：9

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