Capture dynamics modeling and simulation of the space flexible manipulator

Simiao Yu; Zhiyong Qu; Shutao Zheng; Junwei Han

doi:10.1007/978-981-10-2663-8_32

Capture dynamics modeling and simulation of the space flexible manipulator

Simiao Yu, Zhiyong Qu, Shutao Zheng, Junwei Han

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

The ground simulation based on the dynamics of the flexible manipulator capture is an important method for researching the docking characteristics. This paper proposed a capture dynamics modeling method, in which the space flexible manipulator was equivalent to a six dimensional springdamper system. Utilizing the mechanical characteristics of the six dimensional spring-damping system to simulate the flexibility of the space manipulator, and the capture dynamics model was established by applying of the Newton-Euler method. This proposed modeling method considered the flexibility of the manipulator and avoided the complex modeling method of the flexible manipulator with large amount of calculation. The relative motion results between the capture mechanism and the captured mechanism and the stress results of the equivalent spring-damping system were obtained by numerical solution of the capture dynamics model. Then a simulation model was accomplished in the ADAMS software with the same parameters used in the theoretical model to verify the effectiveness and accuracy of the capture dynamics model. The proposed capture dynamics model provided a theoretical basis for the ground simulation of the space flexible manipulator capture.

Original language	English
Title of host publication	Theory, Methodology, Tools and Applications for Modeling and Simulation of Complex Systems - 16th Asia Simulation Conference and SCS Autumn Simulation Multi-Conference, AsiaSim/SCS AutumnSim 2016, Proceedings
Editors	Lin Zhang, Xiao Song, Yunjie Wu
Publisher	Springer Verlag
Pages	296-307
Number of pages	12
ISBN (Print)	9789811026621
DOIs	https://doi.org/10.1007/978-981-10-2663-8_32
State	Published - 2016
Externally published	Yes
Event	16th Asia Simulation Conference and SCS Autumn Simulation Multi-Conference, AsiaSim/SCS AutumnSim 2016 - Beijing, China Duration: 8 Oct 2016 → 11 Oct 2016

Publication series

Name	Communications in Computer and Information Science
Volume	643
ISSN (Print)	1865-0929

Conference

Conference	16th Asia Simulation Conference and SCS Autumn Simulation Multi-Conference, AsiaSim/SCS AutumnSim 2016
Country/Territory	China
City	Beijing
Period	8/10/16 → 11/10/16

Keywords

A six dimensional spring-damping system
Capture dynamics
Ground simulation
Numerical solution
Space flexible manipulator

Access to Document

10.1007/978-981-10-2663-8_32

Cite this

Yu, S., Qu, Z., Zheng, S., & Han, J. (2016). Capture dynamics modeling and simulation of the space flexible manipulator. In L. Zhang, X. Song, & Y. Wu (Eds.), Theory, Methodology, Tools and Applications for Modeling and Simulation of Complex Systems - 16th Asia Simulation Conference and SCS Autumn Simulation Multi-Conference, AsiaSim/SCS AutumnSim 2016, Proceedings (pp. 296-307). (Communications in Computer and Information Science; Vol. 643). Springer Verlag. https://doi.org/10.1007/978-981-10-2663-8_32

Yu, Simiao ; Qu, Zhiyong ; Zheng, Shutao et al. / Capture dynamics modeling and simulation of the space flexible manipulator. Theory, Methodology, Tools and Applications for Modeling and Simulation of Complex Systems - 16th Asia Simulation Conference and SCS Autumn Simulation Multi-Conference, AsiaSim/SCS AutumnSim 2016, Proceedings. editor / Lin Zhang ; Xiao Song ; Yunjie Wu. Springer Verlag, 2016. pp. 296-307 (Communications in Computer and Information Science).

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title = "Capture dynamics modeling and simulation of the space flexible manipulator",

abstract = "The ground simulation based on the dynamics of the flexible manipulator capture is an important method for researching the docking characteristics. This paper proposed a capture dynamics modeling method, in which the space flexible manipulator was equivalent to a six dimensional springdamper system. Utilizing the mechanical characteristics of the six dimensional spring-damping system to simulate the flexibility of the space manipulator, and the capture dynamics model was established by applying of the Newton-Euler method. This proposed modeling method considered the flexibility of the manipulator and avoided the complex modeling method of the flexible manipulator with large amount of calculation. The relative motion results between the capture mechanism and the captured mechanism and the stress results of the equivalent spring-damping system were obtained by numerical solution of the capture dynamics model. Then a simulation model was accomplished in the ADAMS software with the same parameters used in the theoretical model to verify the effectiveness and accuracy of the capture dynamics model. The proposed capture dynamics model provided a theoretical basis for the ground simulation of the space flexible manipulator capture.",

keywords = "A six dimensional spring-damping system, Capture dynamics, Ground simulation, Numerical solution, Space flexible manipulator",

author = "Simiao Yu and Zhiyong Qu and Shutao Zheng and Junwei Han",

note = "Publisher Copyright: {\textcopyright} Springer Science+Business Media Singapore 2016.; 16th Asia Simulation Conference and SCS Autumn Simulation Multi-Conference, AsiaSim/SCS AutumnSim 2016 ; Conference date: 08-10-2016 Through 11-10-2016",

year = "2016",

doi = "10.1007/978-981-10-2663-8_32",

language = "英语",

isbn = "9789811026621",

series = "Communications in Computer and Information Science",

publisher = "Springer Verlag",

pages = "296--307",

editor = "Lin Zhang and Xiao Song and Yunjie Wu",

booktitle = "Theory, Methodology, Tools and Applications for Modeling and Simulation of Complex Systems - 16th Asia Simulation Conference and SCS Autumn Simulation Multi-Conference, AsiaSim/SCS AutumnSim 2016, Proceedings",

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Yu, S, Qu, Z, Zheng, S & Han, J 2016, Capture dynamics modeling and simulation of the space flexible manipulator. in L Zhang, X Song & Y Wu (eds), Theory, Methodology, Tools and Applications for Modeling and Simulation of Complex Systems - 16th Asia Simulation Conference and SCS Autumn Simulation Multi-Conference, AsiaSim/SCS AutumnSim 2016, Proceedings. Communications in Computer and Information Science, vol. 643, Springer Verlag, pp. 296-307, 16th Asia Simulation Conference and SCS Autumn Simulation Multi-Conference, AsiaSim/SCS AutumnSim 2016, Beijing, China, 8/10/16. https://doi.org/10.1007/978-981-10-2663-8_32

Capture dynamics modeling and simulation of the space flexible manipulator. / Yu, Simiao; Qu, Zhiyong; Zheng, Shutao et al.
Theory, Methodology, Tools and Applications for Modeling and Simulation of Complex Systems - 16th Asia Simulation Conference and SCS Autumn Simulation Multi-Conference, AsiaSim/SCS AutumnSim 2016, Proceedings. ed. / Lin Zhang; Xiao Song; Yunjie Wu. Springer Verlag, 2016. p. 296-307 (Communications in Computer and Information Science; Vol. 643).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Capture dynamics modeling and simulation of the space flexible manipulator

AU - Yu, Simiao

AU - Qu, Zhiyong

AU - Zheng, Shutao

AU - Han, Junwei

N1 - Publisher Copyright: © Springer Science+Business Media Singapore 2016.

PY - 2016

Y1 - 2016

N2 - The ground simulation based on the dynamics of the flexible manipulator capture is an important method for researching the docking characteristics. This paper proposed a capture dynamics modeling method, in which the space flexible manipulator was equivalent to a six dimensional springdamper system. Utilizing the mechanical characteristics of the six dimensional spring-damping system to simulate the flexibility of the space manipulator, and the capture dynamics model was established by applying of the Newton-Euler method. This proposed modeling method considered the flexibility of the manipulator and avoided the complex modeling method of the flexible manipulator with large amount of calculation. The relative motion results between the capture mechanism and the captured mechanism and the stress results of the equivalent spring-damping system were obtained by numerical solution of the capture dynamics model. Then a simulation model was accomplished in the ADAMS software with the same parameters used in the theoretical model to verify the effectiveness and accuracy of the capture dynamics model. The proposed capture dynamics model provided a theoretical basis for the ground simulation of the space flexible manipulator capture.

AB - The ground simulation based on the dynamics of the flexible manipulator capture is an important method for researching the docking characteristics. This paper proposed a capture dynamics modeling method, in which the space flexible manipulator was equivalent to a six dimensional springdamper system. Utilizing the mechanical characteristics of the six dimensional spring-damping system to simulate the flexibility of the space manipulator, and the capture dynamics model was established by applying of the Newton-Euler method. This proposed modeling method considered the flexibility of the manipulator and avoided the complex modeling method of the flexible manipulator with large amount of calculation. The relative motion results between the capture mechanism and the captured mechanism and the stress results of the equivalent spring-damping system were obtained by numerical solution of the capture dynamics model. Then a simulation model was accomplished in the ADAMS software with the same parameters used in the theoretical model to verify the effectiveness and accuracy of the capture dynamics model. The proposed capture dynamics model provided a theoretical basis for the ground simulation of the space flexible manipulator capture.

KW - A six dimensional spring-damping system

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KW - Ground simulation

KW - Numerical solution

KW - Space flexible manipulator

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SN - 9789811026621

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BT - Theory, Methodology, Tools and Applications for Modeling and Simulation of Complex Systems - 16th Asia Simulation Conference and SCS Autumn Simulation Multi-Conference, AsiaSim/SCS AutumnSim 2016, Proceedings

A2 - Zhang, Lin

A2 - Song, Xiao

A2 - Wu, Yunjie

PB - Springer Verlag

T2 - 16th Asia Simulation Conference and SCS Autumn Simulation Multi-Conference, AsiaSim/SCS AutumnSim 2016

Y2 - 8 October 2016 through 11 October 2016

ER -

Yu S, Qu Z, Zheng S, Han J. Capture dynamics modeling and simulation of the space flexible manipulator. In Zhang L, Song X, Wu Y, editors, Theory, Methodology, Tools and Applications for Modeling and Simulation of Complex Systems - 16th Asia Simulation Conference and SCS Autumn Simulation Multi-Conference, AsiaSim/SCS AutumnSim 2016, Proceedings. Springer Verlag. 2016. p. 296-307. (Communications in Computer and Information Science). doi: 10.1007/978-981-10-2663-8_32

Capture dynamics modeling and simulation of the space flexible manipulator

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