Simulation method for spatial rope tied robot system and based on mixed unit method

Abstract

The invention relates to a simulation method for a spatial rope tied robot system and based on a mixed unit method. A rope section with strong stress variation and close to a releasing point is calculated through a precise Ritz method and rope sections with smooth stress variation at other positions are calculated through a simple 'bead model'. The number of 'bead points' is increased in releasing process through a mechanism completely identical to the 'bead model' so that on one hand, the length of the rope section calculated through the Ritz method is strictly limited and therefore calculation accuracy and effectiveness of the Ritz method are guaranteed, and on the other hand, the rope section with the strongest stress variation is calculated through the Ritz method so that introduction of 'anchoring points' for calculation of a continuously increased rope is avoided and calculation accuracy and calculation efficiency of the 'bead model' are effectively improved.

Description

technical field [0001] The invention relates to a simulation method of a space tether robot system based on a mixed element method. Background technique [0002] In recent years, with the development of space technology, space missions have become increasingly diverse and complex, and the demand for on-orbit service technologies such as faulty satellite maintenance, short-range target capture, and orbital garbage cleaning has become increasingly urgent. For space robots with the configuration of "platform / base + multi-degree-of-freedom manipulator + manipulator" that are widely used at present, due to their short capture distance, complex control system, and high risk of collision, there are problems in non-cooperative target operations. With great limitations. Using the space tether to replace the multi-degree-of-freedom manipulator, a new space tether robot composed of "platform / base + space tether + capture device" can not only extend the operating radius of the traditio...

AI Technical Summary

Problems solved by technology

These two methods have different characteristics. The "bead model" is simple in form and has very good calculation results for tethers of any length, but its solution speed is very slow and is very sensitive to errors in the solution process; the Ritz method The solution speed is fast and the solution for short tethers has a very high solution accuracy, but as the length of the tether increases, its simulation accuracy will drop sharply, and its calculation results will become unreliable or even completely unacceptable

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