High-speed collision dynamics of the tethered space net robot and parameter analysis to the collision disturbance

Abstract

Tethered Space Net Robot (TSNR) is one of the efficient technologies in Active Debris Removal, it can maneuver in orbit automatically and capture multiple space debris continuously. However, the steady increase of the space debris greatly increases the collision risk of the TSNR in orbit. If threads of the net are broken by high-speed debris, the DOF of the TSNR will change and the maneuver of the TSNR will also be unstable. Moreover, TSNR is a classic underactuated system, the complex collision disturbance during the collision will increase more difficulty in controller design. Based on the improved net collision model, the collision dynamics of the TSNR with high-speed debris is studied, and a series of collision cases are designed to investigate the influence of the following three parameters, the collision position of the net, the size and mass of debris on collision disturbance. Results show that: TSNR is affected by several impulsive collision disturbances, which cause the rebound of the TSNR and the breakage of the local threads. The collision position of the net has a significant impact on the collision disturbance, and can be divided into three sensitive areas, central area, edge area and corner area, under the structure of the net and simulation results. The influence of both the size and the mass of the space debris on collision disturbance are piecewise and non-linear. This paper provides references for the structure design and dynamic control of the TSNR.