Abstract
The dynamics of the Long Reach Manipulators create disturbances in its supporting base structure. This causes positional and attitude inaccuracies of the end-effector, thwarting the accomplishment of the desired mission task. Hence the base disturbance problem has been a subject of research since long time bringing solutions from varied domains. This paper analyzes the balance link concept for compensating the disturbances. The LRM system is modelled as a two-link serial chain with payload, and the balance arm, as a single link with tip mass that is dynamically varied by controlling the quantity of the hydraulic fluid in the bellows-like reservoir at the tip. The supporting base is modelled as a half car. Simultaneous constraint matrices are set up for the arrangement, and dynamic simulation is performed using SIMULINK. The pitch and bounce motions of the base are studied along with the torque error during compensation. The simulation plots are obtained for two conditions of compensating arm¾with fixed tip mass and with varying tip mass. The results confirm the suitability of the suggested compensating arrangement in controlling base disturbances.
Highlights
Many terrestrial and space applications require remotely operated tasks
The effect of varying the tip mass and varying the mass of the compensating arrangement is analysed in controlling the base disturbances
The method of augmenting balance links to the Long Reach Manipulator (LRM) system for controlling the base disturbances is studied The LRM system was modelled as a two-link manipulator while the balance link was a modelled as a single link compensating arm with lesser mass relative to the LRM model
Summary
Many terrestrial and space applications require remotely operated tasks. Some such examples are repair of bridges, handling of nuclear wastes, aerial refuelling, maintenance of international space station, and payload tending in space [1, 2]. Long Reach Manipulator (LRM) system is inevitable for such applications. The LRM is a long multi-link serial chain carrying a Short Reach Arm (SRM) at its free end as end-effector. The main issue of such disturbance is the change in base attitude that shall severe the signals from ground stations; the position and attitude change shall create collision of the SRM while performing the mission task [4]. Base disturbance of LRM system has been remaining as an active research area
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