Universal Dynamic Model of the Tethered Space Robot

被引：2
|
作者：
Meng, Zhongjie [1 ,2 ]
Huang, Panfeng [1 ,2 ]
机构：
[1] Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, Sch Astronaut, Xian 710072, Peoples R China
[2] Northwestern Polytech Univ, Res Ctr Intelligent Robot, Sch Astronaut, Xian 710072, Peoples R China
来源：
JOURNAL OF AEROSPACE ENGINEERING | 2016年 / 29卷 / 01期
基金：
中国国家自然科学基金;
关键词：
Tethered space robot; Dynamic modeling; Universal model; Hamilton's principle; ORDER TENSION CONTROL; SATELLITE SYSTEMS; DEPLOYMENT; LENGTH; RETRIEVAL; ORBITS;
D O I：
10.1061/(ASCE)AS.1943-5525.0000518
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
The tethered space robot (TSR) plays a significant role in the noncooperative capture. Compared with traditional space robots and tethered satellite systems, the flexible tether and complex end-bodies bring great challenges to the dynamic modeling. From the topological configuration, a universal mathematical model is presented based on Hamilton's principle and Lagrange multipliers. A numerical model is derived by the finite-element method, in which the multiple rigid end-bodies, the tether mass, elasticity, and flexibility are all described. Finally, the dynamic model is validated by the comparison with the real flight data. Simulation results achieve good agreements with the real flight data. (C) 2015 American Society of Civil Engineers.
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收藏
页数：11
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