Publicou 12 edições por ano
ISSN Imprimir: 1064-2315
ISSN On-line: 2163-9337
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Influence of Elastic and Dissipative Properties of Hinge Joints on Dynamics of Space Manipulator
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RESUMO
Mathematical model of dynamics of a multilink space robot manipulator, considered as a system of many absolutely rigid bodies, is constructed. Elastic compliance and friction in connecting hinges are taken into account. The suggested technique of derivation of the system equations of motion is based on simultaneous application of formalism of Euler-Lagrange and of Lagrange 2nd kind equations. Problems of dynamic and kinematic control of spatial motions of the system are formulated. A numerical example of study of dynamics of a two-link robot is considered.
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Liu Xiao-Feng, Li Hai-Quan, Chen Yi-Jun, Cai Guo-Ping, Dynamics and control of space robot considering joint friction, Acta Astronautica, 111, 2015. Crossref
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Liu Xiaofeng, Li Haiquan, Wang Jingsen, Cai Guoping, Dynamics analysis of flexible space robot with joint friction, Aerospace Science and Technology, 47, 2015. Crossref
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Zhang Qi, Liu Xiaofeng, Cai Guoping, Dynamics and Control of a Flexible-Link Flexible-Joint Space Robot with Joint Friction, International Journal of Aeronautical and Space Sciences, 22, 2, 2021. Crossref