Dynamic modeling and beating phenomenon analysis of space robots with continuum manipulators  

作　　者：Jinzhao YANG Haijun PENG Jie ZHANG Zhigang WU 

机构地区：[1]School of Aeronautics and Astronautics,Dalian University of Technology,Dalian 116024,China [2]Department of Engineering Mechanics,Dalian University of Technology,Dalian 116024,China [3]State Key Laboratory of Structural Analysis for Industrial Equipment,Dalian University of Technology,Dalian I16024,China

出　　处：《Chinese Journal of Aeronautics》2022年第9期226-241,共16页中国航空学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(Nos.91748203,11922203,11772074)。

摘　　要：Space robotics has been used extensively in complex space missions. Rigid-manipulator space robots may suffer from rigid-body collisions with targets. This collision is likely to cause damage to the space robot and the target. To overcome such a problem, a novel ContinuumManipulator Space Robot(CMSR) for performing on-orbit servicing missions is proposed in this paper. Compared with rigid-manipulator space robots, CMSRs are able to perform compliant operations and avoid rigid-body collisions with a target. The CMSR consists of two kinds of flexible components, including solar arrays and continuum manipulators. The elastic vibrations of these flexible components disturb the position and attitude of CMSRs. The beating phenomenon introduced by the energy transfer among these flexible components can cause damage to solar arrays.The complicated dynamic coupling poses enormous challenges in dynamic modeling and vibration analysis. The dynamic model for CMSRs is derived and the mechanism of the beating phenomenon is analyzed in this paper. Simulation results show that an obvious beating phenomenon occurs and the amplitude of the solar arrays increases significantly when the natural frequencies of two kinds of flexible components are close. A method is provided to avoid the beating phenomenon.

关 键 词：Continuum manipulators Dynamic model Solar arrays Space robots Vibration analysis 

分 类 号：V44[航空宇航科学与技术—飞行器设计]