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Method for establishing universal mechanical model of tethered space robot

A technology of dynamic model and space tether, which is applied in the field of establishing general dynamic model and can solve the problems of large dynamic modeling workload of space tethered robot and so on.

Active Publication Date: 2014-07-30
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

This brings a huge workload of dynamic modeling to the study of space tethered robots

Method used

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  • Method for establishing universal mechanical model of tethered space robot
  • Method for establishing universal mechanical model of tethered space robot
  • Method for establishing universal mechanical model of tethered space robot

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Embodiment Construction

[0059] The present invention will be further described in detail below in conjunction with specific embodiments, which are explanations of the present invention rather than limitations.

[0060] The invention relates to a method for establishing a general dynamics model of a space tethered robot, which establishes a general dynamics model for the space tethered robot, which is a complex rigid-flexible composite system, and lays a foundation for the research of the space tethered robot.

[0061] The present invention is specifically realized through the following steps:

[0062] Step 1, determine the topology and structural parameters of the space tethered robot.

[0063] Such as figure 1 As shown, the space tethered robot adopts a general topology. Both the space platform 1 and the operating robot 3 are multi-rigid body structures. Define the geocentric inertial coordinate system OX ω Y ω Z ω . space platform 1 by n P It is formed by connecting rigid bodies, and the ce...

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Abstract

The invention provides a method for establishing a universal mechanical model of a tethered space robot. The method can meet requirements in modeling tethered space robots of different tasks and different structures, simplify the modeling operation, and improve the modeling and resolving efficiencies. The method comprises the following steps: 1, confirming the topologic structure and structural parameters of the tethered space robot, wherein the topologic structure of the tethered space robot comprises a space tether as well as a space platform and an operation robot which are connected through the space tether and both adopt multi-rigid body structures; 2, establishing a mechanical model of the space tether; 3, establishing a mechanical model of the tethered space robot of an earth core inertial system based on the Hamilton principle and in combination with the mechanical model of the space tether; 4, converting the mechanical model of the tethered space robot of the earth core inertial system into a track inertial system; 5, discretizing the system model by using a finite element method, and establishing the universal mechanical model of the tethered space robot.

Description

technical field [0001] The invention relates to the field of on-orbit service of a space tethered robot, in particular to a method for establishing a general dynamic model of a space tethered robot. Background technique [0002] Space tethered robot is a new type of space robot system. Due to its characteristics of flexibility, safety, and low cost, it will be widely used in tasks such as rescue of failed satellites, space garbage cleaning, on-orbit maintenance, and on-orbit assembly. The general structure of the space tethered robot is "space platform + space tether + operating robot". The space platform releases the operating robot through the space tether, and the operating robot approaches the space target to capture; The terminal operator performs on-orbit servicing tasks. As a complex rigid-flexible composite system, its dynamic modeling is a huge challenge. For this type of system modeling, the current commonly used models can be divided into three categories accord...

Claims

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Application Information

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IPC IPC(8): G06F19/00
Inventor 孟中杰胡仄虹黄攀峰
Owner NORTHWESTERN POLYTECHNICAL UNIV
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