Abstract
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.
Highlights
Due to the characteristics of microgravity, high vacuum, and strong radiation in space, astronauts carrying out space missions will face extremely high risks
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
The main contributions of this paper are: (1) A novel concept of integrated effective mass that integrates the inertial properties of the contact bodies is proposed in an attempt to transform the complex contact process into the energy change of a virtual single body with integrated effective mass; (2) A more general continuous contact model is established, which is suitable for non-central collisions between a space robot and a tumbling target; (3) The maximum contact force is derived as an important indicator for the null-space optimization method to reduce the maximum contact force
Summary
Due to the characteristics of microgravity, high vacuum, and strong radiation in space, astronauts carrying out space missions will face extremely high risks. The main contributions of this paper are: (1) A novel concept of integrated effective mass that integrates the inertial properties of the contact bodies is proposed in an attempt to transform the complex contact process into the energy change of a virtual single body with integrated effective mass; (2) A more general continuous contact model is established, which is suitable for non-central collisions between a space robot and a tumbling target; (3) The maximum contact force is derived as an important indicator for the null-space optimization method to reduce the maximum contact force. On this basis, the continuous contact model between a free-floating space robot and a tumbling target is given, in which the maximum contact force expression is derived.
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