Natural Characteristics of Multi-Stage Planetary Drives for Space Manipulator Joints Based on Modular Dynamic Model

Abstract

In this paper, a modular dynamic model of multi-stage planetary gear drive for space manipulator joints is presented so as to overcome the shortcomings of the traditional overall modeling approach. Based on the modular idea, the system mass and stiffness matrices are respectively divided into four sub-modular matrices, then the modular program for the eigenvalue and eigenvector calculation of multi-stage planetary system is developed. The presented modular calculation program of natural characteristics can be used for the computational analysis of natural frequencies and modal vectors of the planetary gear drive with arbitrary drive stages and arbitrary drive parameters. Meanwhile, taking the four-stage planetary gear drive system for space manipulator joints for example, through the call of the modular calculation program, its natural frequencies and modal vectors can be quickly and easily acquired.