Design and Dynamic Simulation Verification of an On-Orbit Operation-Based Modular Space Robot-Reference-Cited by-同舟云学术

Design and Dynamic Simulation Verification of an On-Orbit Operation-Based Modular Space Robot

Published:2023-12-04 Issue:23 Volume:13 Page:12949
ISSN:2076-3417
Container-title:Applied Sciences
language:en
Short-container-title:Applied Sciences

Author:

Yang Dong¹,Yue Xiaokui¹,Guo Ming²

Affiliation:

1. National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi’an 710072, China

2. Innovation Academy for Microsatellites, Chinese Academy of Sciences, Shanghai 201203, China

Abstract

Space robots have been playing an important role in space on-orbit operation missions. However, the traditional configuration of space robots only has a single function and cannot meet the requirements of different space missions, and the launch cost of space robots is very high. Thus, the reconfigurable modular space robot system that can carry multiple loads and own mission adaptability is of great significance. Based on the analysis of a robot space mission, combined with the existing reconfigurable robots, this paper develops a configuration design scheme for a modular reconfigurable space robot, and carries out the prototype design. According to the configuration characteristics of the module, the dynamic modeling of the space robot is based on the graph theory analysis and principle of virtual work. Related application scenarios are set up. Function and feasibility of the dynamic modeling methods are verified through assembly experimentation and dynamic simulation.

Funder

National Natural Science Foundation of China

Publisher

MDPI AG

Subject

Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science

Link

https://www.mdpi.com/2076-3417/13/23/12949/pdf

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