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
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