Study on Bionic Rotation of A Free-Floating Space Robot

被引：0
|
作者：
Xu Lixian [1 ]
Wang Liang [1 ]
机构：
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
来源：
PROCEEDINGS OF 2015 INTERNATIONAL CONFERENCE ON FLUID POWER AND MECHATRONICS - FPM 2015 | 2015年
关键词：
free-floating space robot; rotation; 3-DOF hinge joint; momentum conservation; kinematics analysis; MATLAB;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
Double rigid bodies model of a free-falling cat's rotation has been widely accepted, through the further analysis of this model the paper designed a 3-DOF hinge joint in order to realize the rotation of a free-floating space robot under the condition of weightlessness. Based on the law of linear momentum and angular momentum conservation, general kinematics model of the space robot was established in this paper, and the algorithm that is available for MATLAB analysis was proposed according to the kinematics model. At last the paper had a kinematics analysis of the 3-DOF hinge joint, and the joint model was proved to be correct.
引用
收藏
页码：859 / 865
页数：7
相关论文
共 50 条
  • [31] Analysis of the Asteroid Sampling Process Performed by Free-Floating Space Robot
    Zhang, Long
    Wang, Shuquan
    2022 6TH INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION SCIENCES (ICRAS 2022), 2022, : 68 - 72
  • [32] Spatial operator algebra for free-floating space robot modeling and simulation
    Department of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
    Chin J Mech Eng Engl Ed, 5 (635-640):
  • [33] Autonomous trajectory planning of free-floating robot for capturing space target
    Li, Cheng
    Liang, Bin
    Xu, Wenfu
    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, : 1008 - +
  • [34] Spatial Operator Algebra for Free-floating Space Robot Modeling and Simulation
    Tian Zhixiang
    Wu Hongtao
    CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2010, 23 (05) : 635 - 640
  • [35] Neural network adaptive compensation control of free-floating space robot
    School of Aerospace, Harbin Institute of Technology, Harbin 150001, China
    不详
    不详
    Yuhang Xuebao, 6 (1312-1317):
  • [36] Robust control of free-floating space robot based on neural network
    Zhang W.-H.
    Qi N.-M.
    Gao J.-Z.
    Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics, 2011, 33 (06): : 1332 - 1336
  • [37] Maneuvering and Vibrations Control of a Free-Floating Space Robot with Flexible Arms
    Masoudi, Ramin
    Mahzoon, Mojtaba
    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2011, 133 (05):
  • [38] A ground experiment system of free-floating robot for capturing space target
    Xu, Wenfu
    Liang, Bin
    Xu, Yangsheng
    Li, Cheng
    Qiang, Wenyi
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2007, 48 (02) : 187 - 208
  • [39] Autonomous target capturing of free-floating space robot: Theory and experiments
    Xu, Wenfu
    Liang, Bin
    Li, Cheng
    Liu, Yu
    Xu, Yangsheng
    ROBOTICA, 2009, 27 : 425 - 445
  • [40] A Ground Experiment System of Free-floating Robot For Capturing Space Target
    Wenfu Xu
    Bin Liang
    Yangsheng Xu
    Cheng Li
    Wenyi Qiang
    Journal of Intelligent and Robotic Systems, 2007, 48 : 187 - 208
12345