Deployment dynamics and experiments of a tendon-actuated flexible manipulator  

作　　者：Benteng ZHANG Jialiang SUN Haiyan HU 

机构地区：[1]State Key Laboratory of Mechanics and Control for Aerospace Structures,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China [2]MOE Key Laboratory of Dynamics and Control of Flight Vehicle,School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China

出　　处：《Chinese Journal of Aeronautics》2025年第2期459-477,共19页中国航空学报(英文版)

基　　金：the National Natural Science Foundation of China(Nos.11832005,12372042,12232011);Young Elite Scientists Sponsorship Program by CAST(No.2022QNRC001);the Fundamental Research Funds for the Central Universities(No.NS2023002);State Key Laboratory of Mechanics and Control for Aerospace Structures(Nanjing University of Aeronautics and Astronautics)(No.MCAS-S-0223K04).

摘　　要：The quantity of space debris on Earth orbit has escalated tremendously in recent years, presenting a significant hazard to human space operations. It is urgent to develop effective measures to capture and remove various space debris. For this purpose, this paper presents a tendon-actuated flexible deployable manipulator. The flexible manipulator consists of several deployable units connected by Cardan joints and actuated by tendons. Compared with the present technologies for capturing space debris such as rigid robotic arm or flying net, this flexible manipulator is deployable, reusable, lightweight and applicable to the capture of large space debris. In order to investigate its deployment dynamics, an accurate dynamic model of the flexible manipulator is established based on the natural coordinate formulation (NCF) and the absolute nodal coordinate formulation (ANCF). Subsequently, numerical simulations are carried out to study the effects of system parameters and the base satellite on its deployment dynamics. Finally, ground experiments for both deployment and bending of the flexible manipulator are conducted to verify its effectiveness and feasibility.

关 键 词：Flexible manipulator Tendon-actuated Dynamic modeling Deployment dynamics Ground experiments 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]