Dynamics Investigate on Capture Process of rope end Mechanism of Space Manipulator

Abstract

The rope end mechanism of large space manipulator satisfies the characteristics of large tolerance and soft acquisition, and is an ideal actuator for space acquisition operation. Based on the discretization method, the dynamic model of wire rope is obtained by flexible spring connection. By introducing the non-linear contact force and friction model between the rope and the target, the capture dynamics model of the end mechanism is obtained. The model is used to simulate and analyze the two acquisition strategies of uniform speed acquisition and FA-SC-VT acquisition. It is found that the collision force is uncontrollable and the target is easy to escape during the acquisition process. To solve the above problems, a motion synchronization acquisition strategy is proposed. The simulation results of the three acquisition strategies are compared and verified by the dynamic model. It is found that the motion synchronization acquisition strategy can effectively reduce the collision force between the rope and the target and improve the acquisition capability compared with the uniform acquisition strategy and FA-SC-VT acquisition strategy. It is of great significance to the dynamics study of the acquisition process of large space manipulator.