TY - JOUR
T1 - Universal dynamic model of the tethered space Robot
AU - Meng, Zhongjie
AU - Huang, Panfeng
N1 - Publisher Copyright:
© 2015 American Society of Civil Engineers.
PY - 2016/1/1
Y1 - 2016/1/1
N2 - The tethered space robot (TSR) plays a significant role in the noncooperative capture. Compared with traditional space robots and tethered satellite systems, the flexible tether and complex end-bodies bring great challenges to the dynamic modeling. From the topological configuration, a universal mathematical model is presented based on Hamilton's principle and Lagrange multipliers. A numerical model is derived by the finite-element method, in which the multiple rigid end-bodies, the tether mass, elasticity, and flexibility are all described. Finally, the dynamic model is validated by the comparison with the real flight data. Simulation results achieve good agreements with the real flight data.
AB - The tethered space robot (TSR) plays a significant role in the noncooperative capture. Compared with traditional space robots and tethered satellite systems, the flexible tether and complex end-bodies bring great challenges to the dynamic modeling. From the topological configuration, a universal mathematical model is presented based on Hamilton's principle and Lagrange multipliers. A numerical model is derived by the finite-element method, in which the multiple rigid end-bodies, the tether mass, elasticity, and flexibility are all described. Finally, the dynamic model is validated by the comparison with the real flight data. Simulation results achieve good agreements with the real flight data.
KW - Dynamic modeling
KW - Hamilton's principle
KW - Tethered space robot
KW - Universal model
UR - http://www.scopus.com/inward/record.url?scp=84950336606&partnerID=8YFLogxK
U2 - 10.1061/(ASCE)AS.1943-5525.0000518
DO - 10.1061/(ASCE)AS.1943-5525.0000518
M3 - 文章
AN - SCOPUS:84950336606
SN - 0893-1321
VL - 29
JO - Journal of Aerospace Engineering
JF - Journal of Aerospace Engineering
IS - 1
M1 - 4015026
ER -