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Modified Dynamics Modelling for Maneuvering Flexible Space Manipulators

机译：机动柔性空间机械臂的改进动力学建模

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The paper considers the dynamics of flexible space manipulators carrying outrelatively fast maneuvers. In the past, computer simulations of the dynamics of flexible space manipulators executing large movements sometimes lacked in accuracy, especially during fast maneuvers. The deficiency can be attributed to the neglect of second-order terms in the deformation field of the flexible links in the manipulator multi-body system. Several modeling techniques can be used to improve flexible space manipulators dynamics algorithms. Theseare: nonlinear deformation field modeling, perturbed dynamics modeling, fictitious joints modeling and bracket joints modeling. These four modeling techniques will be explained in an application to a single link manipulator, thereby facilitating understanding. Analytical and numerical results are presented, and an assessment of each of the four modeling techniques is given.

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作者
van Woerkom, P. T. L. M.;
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年度 1991
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总页数 16
原文格式 PDF
正文语种 eng
中图分类工业技术;
关键词
Robot dynamics; Manipulators; Flexible spacecraft; Dynamic models; Computerizedsimulation; Dynamic structural analysis; Algorithms; Many body problem; Kinematics; Robot arms; Joints(Junctions);

机译：机器人动力学;机械手;灵活的航天器;动态模型;计算机模拟;动态结构分析;算法;许多身体问题;运动学;机器人手臂;关节（交叉点）;

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专利

1. MODIFIED DYNAMICS MODELLING FOR MANEUVERING FLEXIBLE SPACE MANIPULATORS [J] . Vanwoerkom PTLM. Journal of Sound and Vibration . 1995,第5期

机译：用于操纵灵活空间操纵器的改进动力学建模
2. Dynamic modeling and vibration characteristics analysis of flexible-link and flexible-joint space manipulator [J] . Meng Deshan, She Yu, Xu Wenfu, Multibody system dynamics . 2018,第4期

机译：柔性连杆和柔性关节空间机械手的动态建模与振动特性分析
3. Dynamic modeling and orbit maneuvering response analysis for a three-axis attitude stabilized large scale flexible spacecraft installed with hinged solar arrays [J] . Guiqin He, Dengqing Cao, Yuteng Cao, Mechanical systems and signal processing . 2022,第Jana期

机译：三轴姿态的动态建模与轨道机动响应分析稳定大型柔性航天器安装铰接太阳阵列
4. Dynamical Analysis of Flexible Space Manipulator with Deployable Links Dynamical Analysis of Flexible Space Manipulator with Deployable Links Dynamical Analysis of Flexible Space Manipulator with Deployable Links Dynamical Analysis of Flexible Space [C] . Tadashi KOMATSU, Togo SAKAI, V. J. MODI 日本ロボット学会学術講演会 . 2001

机译：柔性空间机械手的动态分析可展开柔性空间机械手动力分析，可展开柔性空间机械手动力分析，可展开柔性空间的动力学分析
5. Advanced topics in structural dynamics: The maneuver of flexible spacecraft, and on-off decentralized control of flexible structures. [D] . Foster, Lester Anderson, III. 1989

机译：结构动力学的高级主题：挠性航天器的操纵以及挠性结构的开关控制。
6. The Study of Dynamic Modeling and Multivariable Feedback Control for Flexible Manipulators with Friction Effect and Terminal Load [O] . Fuli Zhang, Zhaohui Yuan 2021

机译：具有摩擦效应和终端负荷的柔性机械手动态建模和多变量反馈控制研究
7. Integrated Flexible Dynamic Maneuver Loads Models based on Aerodynamic Influence Coefficients of a 3D Panel Method [O] . Thiemo M. Kier 2015

机译：基于三维面板法空气动力学影响系数的集成柔性动态机动载荷模型
8. Dynamics, Control and Maneuvering of Large Flexible Space Tethered Reflectors,Tele-Robots and Experimental Models. Part 2 [R] . Bainum, P. M., Feiyue, L., Jianke, X., 1995

机译：大型柔性空间系留反射器，远程机器人和实验模型的动力学，控制和机动。第2部分

Modified Dynamics Modelling for Maneuvering Flexible Space Manipulators

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