Configuration Optimization for Free-Floating Space Robot Capturing Tumbling Target

Aerospace

Long Zhang¹ 

[1] Key Laboratory of Space Utilization, Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing 100094, China;

关键词: free-floating space robot;    configuration optimization;    maximum contact force;    integrated effective mass;    tumbling target capture;   

DOI  :  10.3390/aerospace9020069

来源: DOAJ

【 摘 要 】

The maximum contact force is one of the most important indicators for contact problems. In this paper, the configuration optimization is conducted to reduce the maximum contact force for a free-floating space robot capturing tumbling target. First, the dynamics model of a free-floating space robot is given, with which the inertial properties perceived at the end-effector can be derived. Combing the inertial properties of the contact bodies, a novel concept of integrated effective mass is proposed. It tries to transform the complex contact process into the energy change of a virtual single body with integrated effective mass. On this basis, a more general continuous contact model is established, which is also suitable for non-central collisions between space robot and the tumbling target. Thereafter, the maximum contact force is derived as an important indicator for the null-space optimization method to reduce the maximum contact force. Finally, numerical simulations with a 3-degree-of-freedom free-floating space robot and a 7-degree-of-freedom free-floating space robot, as the research objects, are carried out respectively and the results show the effectiveness of the method proposed.

【 授权许可】

Unknown