Li Haiquan, Liang Jianxun, Wu Shuang, Liu Qian, Zhang Wenming. DYNAMICS MODELING AND EXPERIMENT OF A FLEXIBLE CAPTURING MECHANISM IN A SPACE MANIPULATOR[J]. Chinese Journal of Theoretical and Applied Mechanics, 2020, 52(5): 1465-1474. DOI: 10.6052/0459-1879-20-106
Citation:
Li Haiquan, Liang Jianxun, Wu Shuang, Liu Qian, Zhang Wenming. DYNAMICS MODELING AND EXPERIMENT OF A FLEXIBLE CAPTURING MECHANISM IN A SPACE MANIPULATOR[J]. Chinese Journal of Theoretical and Applied Mechanics, 2020, 52(5): 1465-1474. DOI: 10.6052/0459-1879-20-106
Li Haiquan, Liang Jianxun, Wu Shuang, Liu Qian, Zhang Wenming. DYNAMICS MODELING AND EXPERIMENT OF A FLEXIBLE CAPTURING MECHANISM IN A SPACE MANIPULATOR[J]. Chinese Journal of Theoretical and Applied Mechanics, 2020, 52(5): 1465-1474. DOI: 10.6052/0459-1879-20-106
Citation:
Li Haiquan, Liang Jianxun, Wu Shuang, Liu Qian, Zhang Wenming. DYNAMICS MODELING AND EXPERIMENT OF A FLEXIBLE CAPTURING MECHANISM IN A SPACE MANIPULATOR[J]. Chinese Journal of Theoretical and Applied Mechanics, 2020, 52(5): 1465-1474. DOI: 10.6052/0459-1879-20-106
*School of Aerospace Engineering, Tsinghua University, Beijing 100084, China
†Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications, Beijing Institute of Spacecraft System Engineering, Beijing 100094, China
An end-effector with flexible capturing mechanisms, which can accomplish on-orbit capturing operations with large tolerance, is a vital component of a large-scale space manipulator. Dynamics modeling and theoretical analysis of the flexible capturing mechanisms are very important for on-orbit servicing task simulation and prediction. In this paper, a dynamics model of a flexible capturing mechanism with three cables in a space end-effector is developed firstly. The three-dimensional absolute nodal coordinate formulation (ANCF) is used to create nonlinear finite elements of flexible cables. Both bending and longitudinal deformation of the cables are considered, furthermore, contact between the flexible cables and the rigid target is analyzed by introducing an intermediate cylinder reference coordinate system. Then, an experiment with passive spring suspension is built to validate the proposed model and signals of both motions and forces of the target are collected and compared with the simulation results. The comparison shows that the values of the simulation match well with the experimental measuring ones. The presented model could be used as supplements for the two-dimension planar air-bearing experiment and could be used for capturing task simulations of large-scale space manipulators. At last, capturing simulations of two representative on-orbit operations are conducted by co-simulation with the proposed model and a dynamics model of a large-scale space manipulator. One of the operations is the soft capturing process of an inspection task on the spacecraft surface, the other is the soft capturing of a floating target. The main difference between the two simulations is that the target in the first simulation is fixed on the base of the manipulator. Results of these simulations show that the soft capturing process can be accomplished on the prescribed condition.
Flores-Abad A, Ma O, Pham K, et al. A review of space robotics technologies for on-orbit servicing. Progress in Aerospace Sciences, 2014,68:1-26
[2]
Yao HX, Ren WY, Ma O, et al. Understanding the true dynamics of space manipulators from air-bearing based ground testing. Journal of Guidance, Control, and Dynamics, 2018,41(11):2425-2434
( Liu Qian, Xiao Xuan, Cheng Jing, et al. Study on hardware-in-the-loop simulation facility for task verification of space manipulator. Manned Spaceflight, 2019,25(2):227-235 (in Chinese))
( Yu Simiao, Zheng Shutao, Yang Yu, et al. Characteristics analysis of hardware-in-the-loop simulation system for manipulator flexible docking. Journal of Harbin Institute of Technology, 2019,51(7):24-32 (in Chinese))
( Cao Dengqing, Bai Kunchao, Ding Hu, et al. Advances in dynamics and vibration control of large-scale flexible spacecraft. Chinese Journal of Theoretical and Applied Mechanics, 2019,51(1):1-13 (in Chinese))
( Fu Xiaodong, Chen Li. An input limited repetitive learning control of flexible-base two-flexible-link and two-flexible-joint space robot with integration of motion and vibration. Chinese Journal of Theoretical and Applied Mechanics, 2020,52(1):171-183 (in Chinese))
( Zhu An, Chen Li. Mechanical simulation and full order sliding mode collision avoidance compliant control based on neural network of dual-arm space robot with compliant mechanism capturing satellite. Chinese Journal of Theoretical and Applied Mechanics, 2019,51(4):1156-1169 (in Chinese))
[8]
Feng F, Tang LN, Xu JF, et al. A review of the end-effector of large space manipulator with capabilities of misalignment tolerance and soft capture. Science China (Technological Sciences), 2016,59(11):1621-1638
( Jie Dangyang. Study on capture control of a large space manipulator end effector and transporting trajectory [PhD Thesis]. Harbin: Harbin Institute of Technology, 2012 (in Chinese))
[10]
丰飞. 空间大容差末端执行器及其软捕获策略研究[博士论文]. 哈尔滨: 哈尔滨工业大学, 2013
[10]
( Feng Fei. Research on space large misalignment tolerance end-effector and its soft capture strategy.[PhD Thesis]. Harbin: Harbin Institute of Technology, 2013 (in Chinese))
( Pan Dong, Wei Cheng, Tian Hao, et al. Capturing dynamics and experiment of the space large end effector. Journal of Astronautics, 2014,35(10):1120-1126 (in Chinese))
[12]
Zhang Y, Wei C, Pan D, et al. A dynamical approach to space capturing procedure using flexible cables. Aircraft Engineering and Eerospace Technology, 2016,88(1):53-65
[13]
Zhang Y, Wei C, Zhao Y, et al. Adaptive ANCF method and its application in planar flexible cables. Acta Mechanica Sinica, 2018,34(1):199-213
( Rong Jili, Xin Pengfei, Zhuge Xun, et al. Capturing dynamics of flexible ropes for space large-scale end effector. Acta Armamentarii, 2016,37(9):1730-1737 (in Chinese))
( Zhang Long. Dynamics modelling and contact-impact analysis during space snare capture. Journal of Vibration and Shock, 2019,38(10):71-78 (in Chinese))
( Sun Jialiang, Tian Qiang, Hu Haiyan. Advances in dynamic modeling and optimization of flexible multibody systems. Chinese Journal of Theoretical and Applied Mechanics, 2019 51(6):1565-1586 (in Chinese))
Shabana AA. Dynamics of Multibody System. New York: Cambridge University Press, 2005
[19]
Gerstmayr J, Shabana AA. Analysis of thin beams and cables using the absolute nodal co-ordinate formulation. Nonlinear Dynamics 2006,45:109-130
[20]
Liu C, Tian Q, Hu HY. New spatial curved beam and cylindrical shell elements of gradient-deficient absolute nodal coordinate formulation. Nonlinear Dynamics, 2012,70(3):1903-1918
( Fan Jihua, Zhang Dingguo, Shen Hong. Research on elastic line method based on absolute nodal coordinate method. Chinese Journal of Theoretical and Applied Mechanics, 2019,51(5):1455-1465 (in Chinese))
( Guo Jiawen, Wei Cheng, Tan Chunlin, et al. Analysis of the cored stranded wire rope on the nonlinear bending dynamic characteristics. Chinese Journal of Theoretical and Applied Mechanics, 2018,50(2):373-384 (in Chinese))
[23]
Wang BJ, Li QB, Liu TY, et al. Analysis of cable under dynamic contact and large deformation. Ksce Journal of Civil Engineering, 2019,23(4):1626-1635
( Qi Zhaohui, Guo Shudong, Zhuo Yingpeng. Rope elements with moving nodes in rope-pully systems. Chinese Journal of Theoretical and Applied Mechanics, 2019,51(6):1856-1871 (in Chinese))
[25]
Li YY, Wang C, Huang WH. Dynamics analysis of planar rigid-flexible coupling deployable solar array system with multiple revolute clearance joints. Mechanical Systems and Signal Processing 2019,117:188-209
[26]
Fu KJ, Zhao ZH, Ren GX, et al. From multiscale modeling to design of synchronization mechanisms in mesh antennas. Acta Astronautica, 2019,159:156-165
[27]
Tang LL, Liu JY. Modeling and analysis of sliding joints with clearances in flexible multibody systems. Nonlinear Dynamics, 2018,94:2423-2440
[28]
Hu HY, Tian Q, Liu, C. Computational dynamics of soft machines. Acta Mechanica Sinica, 2017,33(3):516-528
[29]
Sun DW, Liu C, Hu HY. Dynamic computation of 2D segment-to-segment frictionless contact for a flexible multibody system subject to large deformation. Mechanism and Machine Theory, 2019,140:350-376
[30]
Lan P, Cui YQ, Yu ZQ. A novel absolute nodal coordinate formulation thin plate tire model with fractional derivative viscosity and surface integral-based contact algorithm. Proceedings of the Institution of Mechanical Engineers Part K-Journal of Multi-Body Dynamics, 2019,233(3):583-597
[31]
Cui LL, Wang HS, Chen WD. Trajectory planning of a spatial flexible manipulator for vibration suppression. Robotics and Autonomous Systems, 2020,123:1-11
[32]
Chen YZ, Zhang DG, Li L. Dynamic analysis of rotating curved beams by using Absolute Nodal Coordinate Formulation based on radial point interpolation method. Journal of Sound and Vibration, 2019, 441: 63:83
[33]
Wu S, Mou FL, Liu Q, et al. Contact dynamics and control of a space robot capturing a tumbling object. Acta Astronaut, 2018,151:532-542
[34]
洪嘉振. 计算多体系统动力学. 北京: 高等教育出版社, 1999: 44-46
[34]
( Hong Jiazhen. Computational Dynamics of Multibody Systems. Beijing: Higher Education Press, Beijing, 1999: 44-46(in Chinese))
[35]
Negrut D, Rampalli R, Ottarsson G, et al. On an implementation of the Hilber-Hughes-Taylor method in the context of index 3 differential-algebraic equations of multibody dynamics. Journal of Computational and Nonlinear Dynamics 2007,2(1):73-85
( Wei Qingqing, Liu Zhiquan, Wang Yaobing, et al. Impedance control of space flexible manipulator system assisted docking of space station. Chinese Space Science and Technology, 2014,6:57-64 (in Chinese))
( Li Daming, Rao Wei, Hu Chengwei, et al. Key technology review of the research on the space station manipulator. Manned Spaceflight, 2014,20(3):238-242 (in Chinese))
DownLoad: