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Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint Failure
Joint Authors
Chen, Gang
Jia, Qingxuan
Yuan, Bonan
Fu, Yingzhuo
Source
International Journal of Aerospace Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-22, 22 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-09-12
Country of Publication
Egypt
No. of Pages
22
Abstract EN
For the free-floating space manipulator with free-swinging joint failure, motions among its active joints, passive joints, free-floating base, and end-effector are coupled.
It is significant to make clear all motion coupling relationships, which are defined as “kinematic coupling relationships” and “dynamic coupling relationships,” inside the system.
With the help of conservation of system momentum, the kinematic model is established, and velocity mapping relation between active joints and passive joints, velocity mapping relation between active joints and base, velocity mapping relation between active joints and end-effector.
We establish the dynamic model based on the Lagrange equation, and the system inertia matrix is partitioned according to the distribution of active joints, passive joints, and the base.
Then, kinematic and dynamic coupling relationships are explicitly derived, and coupling indexes are defined to depict coupling degree.
Motions of a space manipulator with free-swinging joint failure simultaneously satisfy the first-order nonholonomic constraint (kinematic coupling relationships) and the second-order nonholonomic constraint (dynamic coupling relationships), and the manipulator can perform tasks through motion planning and control.
Finally, simulation experiments are carried out to verify the existence and correctness of the first-order and second-order nonholonomic constraints and display task execution effects of the space manipulator.
This research analyzes the kinematic and dynamic characteristics of the free-floating space manipulator with free-swinging joint failure for the first time.
It is the theoretical basis of free-swinging joint failure treatment for a space manipulator.
American Psychological Association (APA)
Jia, Qingxuan& Yuan, Bonan& Chen, Gang& Fu, Yingzhuo. 2019. Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint Failure. International Journal of Aerospace Engineering،Vol. 2019, no. 2019, pp.1-22.
https://search.emarefa.net/detail/BIM-1156278
Modern Language Association (MLA)
Jia, Qingxuan…[et al.]. Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint Failure. International Journal of Aerospace Engineering No. 2019 (2019), pp.1-22.
https://search.emarefa.net/detail/BIM-1156278
American Medical Association (AMA)
Jia, Qingxuan& Yuan, Bonan& Chen, Gang& Fu, Yingzhuo. Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint Failure. International Journal of Aerospace Engineering. 2019. Vol. 2019, no. 2019, pp.1-22.
https://search.emarefa.net/detail/BIM-1156278
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1156278