A Modeling Method of Approximation Dynamics for Space Rope Robot

A technology of dynamic modeling and robotics, applied in instruments, special data processing applications, electrical digital data processing, etc., can solve problems such as complex models, difficult mathematical models to control system design, and high Young's modulus of tethers

Active Publication Date: 2017-07-11
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

However, although the modeling principle of this type of mass spring model is simple, the model established is very complicated, and the mathematical model with each mass point as the object is difficult to be used in the design of the control system.
In addition, due to the extremely high Young's modulus of the tethers that make up the flexible net, the simulation calculation of the model is slow

Method used

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  • A Modeling Method of Approximation Dynamics for Space Rope Robot
  • A Modeling Method of Approximation Dynamics for Space Rope Robot
  • A Modeling Method of Approximation Dynamics for Space Rope Robot

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Embodiment Construction

[0096] Below in conjunction with accompanying drawing, the present invention is described in further detail:

[0097] see Figure 1 to Figure 3 , the approach dynamics modeling method of a kind of space net robot of the present invention, comprises the following steps:

[0098] One: Establish a modeling reference coordinate system and put forward modeling assumptions

[0099] First establish the geocentric inertial system OXYZ, its coordinate origin O is located at the center of the earth, the OX axis points to the vernal equinox of the earth, the OZ axis points to the earth's North Pole, and the OY axis is perpendicular to the OX axis in the equatorial plane; then the orbital coordinate system O is established o x o Y o Z o , its coordinate origin O o Located at the center of mass of the space platform, O o x oThe axis is along the tangential direction of the motorized platform track, pointing to the direction of platform movement, O o Z o Axis and origin O o The li...

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Abstract

The invention discloses an approximating dynamic modeling method for a space rope net robot. A dynamic modeling and resolving method for the space rope net robot is researched in order to solve the approximating dynamic problem of the space rope net robot. The method comprises the following steps: firstly, establishing a modeling reference coordinate system and proposing a modeling assumed condition; establishing a flexible net model and an approximating dynamic model of the space rope net robot; lastly, performing velocity jump modeling on rope-tying motion. During a process of approaching a target by the space rope net robot, four single-chip net mechanisms are all under tightened states, so that a matrix mode of a position vector is utilized to effectively describe the dynamics of the single-chip net mechanisms on the basis of a T3 unit in a plane finite element theory. According to the invention, the complexity of the dynamical model of a single-chip net structure is effectively reduced and the model resolving speed is increased.

Description

technical field [0001] The invention belongs to the field of new spacecraft dynamics modeling research, and in particular relates to an approaching dynamics modeling method of a space rope-net robot. Background technique [0002] The space rope net robot is a new type of space robot system with a structure of "space platform + connecting tether + flexible net (including autonomous motorized unit)", which can capture various targets and has a great tolerance capability. Applied to space garbage cleanup tasks. Its main working process is as follows: firstly, the space platform carrying the space net robot approaches the target to within the working distance of the space net robot; then the space platform launches the flexible net of the space net robot, and then the autonomous motorized unit With the support of position and attitude control mechanism, navigation equipment and space platform measurement and control system, the flexible net is controlled to approach the target ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F17/50
Inventor 孟中杰黄攀峰刘正雄袁建平
Owner NORTHWESTERN POLYTECHNICAL UNIV
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