Data driven modeling of heavy-duty joint system for DEMO manipulators: An initial study from MPD joint simulation

Abstract

This study investigates the subspace modeling method in developing surrogate model of a heavy-duty joint system in a muti-purpose deployer. The joint system is constructed in the Matlab SIMULINK Simscape environment, which includes the multibody dynamics with friction models, meshing loss models and viscous models. The input and output data generated in simulation are used to develop the subspace model. The result shows the subspace modeling method can accurately identify the system order and linear part of dynamics in this joint system. The nonlinearity contributed by the gear friction, meshing and viscosity can't be neglected in the surrogate model. Further model augmentation technics are needed to improve the capability of subspace modeling method applying in nonlinear system.