Polyhedron Collision Dynamics Analysis Method for Space Manipulator Capturing Non-cooperative Targets

Abstract

The invention provides a polyhedron collision dynamics analysis method for the process of a space manipulator grabbing a non-cooperative target. The method comprises the following steps of (1) establishing a dynamical model of a space manipulator; (2) expressing the tail end of the space manipulator as a combination of multiple polyhedrons, and expressing the non-cooperative target as a polyhedron; conducting collision detection on the polyhedron expressing the non-cooperative target through the multiple polyhedrons expressing the tail end of the space manipulator, and detecting whether two different polyhedrons collide or not; if not, repeating the step (2), and if yes, detecting the collision intersection point of the two different polyhedrons; (3) solving collision force in the process of the space manipulator grabbing the non-cooperative target through a non-linear damping model according to the collision intersection point of the two different polyhedrons; and (4) substituting the collision force into a dynamical equation to obtain the collision response in the grabbing process. The polyhedron collision dynamics analysis method is reasonable in design, simple in implementation, high in analytical calculation fidelity and closer to the practical situation.

Description

technical field

[0001] The invention relates to the solution and analysis of the collision dynamics of a space robot, in particular to a polyhedron collision dynamics analysis method for a space manipulator to capture a non-cooperative target. Background technique

[0002] Collision is a complex physical phenomenon that occurs when two or more objects collide. The collision process is instantaneous, accompanied by huge collision force and rapid energy consumption, and large acceleration and deceleration movements at the same time. This phenomenon must be considered in the analysis and design of mechanical systems.

[0003] So far, there have been many studies on contact dynamics models, which can be divided into two categories: discrete and continuous models. The discrete approach, also known as the impulse-momentum approach, assumes that the contact force duration during a collision is extremely short and that the configuration of the colliding bodies does not change. Th...

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