Generalized Modeling of Soft-Capture Manipulator with Novel Soft-Contact Joints
The space-borne manipulator has been playing an important part in docking tasks. Docking collision can easily lead to instability of both the manipulator and floating base. Aiming at the problem of soft capture, a novel soft-contact joint with dual working modes is developed, especially to buffer an...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-03-01
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| Series: | Energies |
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| Online Access: | https://www.mdpi.com/1996-1073/13/6/1530 |
| _version_ | 1817990286625734656 |
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| author | Xiaodong Zhang Sheng Xu Chen Jia Gang Wang Ming Chu |
| author_facet | Xiaodong Zhang Sheng Xu Chen Jia Gang Wang Ming Chu |
| author_sort | Xiaodong Zhang |
| collection | DOAJ |
| description | The space-borne manipulator has been playing an important part in docking tasks. Docking collision can easily lead to instability of both the manipulator and floating base. Aiming at the problem of soft capture, a novel soft-contact joint with dual working modes is developed, especially to buffer and unload the spatial collision momentum. Furthermore, considering a series-wound soft-capture manipulator with multi-joints, a generalized modeling method was established by using the Kane approach. Both the benefits of soft-contact joint and the effectiveness of dynamics equations are verified in MATLAB and Adams software by simulations of a two-joint manipulator with eight-DOF. The comparative simulation results showed the advantages of the proposed soft-contact joint in reducing instability from spatial impact. |
| first_indexed | 2024-04-14T00:57:16Z |
| format | Article |
| id | doaj.art-6844d08bc11048beb7fac63a3c127e3e |
| institution | Directory Open Access Journal |
| issn | 1996-1073 |
| language | English |
| last_indexed | 2024-04-14T00:57:16Z |
| publishDate | 2020-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Energies |
| spelling | doaj.art-6844d08bc11048beb7fac63a3c127e3e2022-12-22T02:21:32ZengMDPI AGEnergies1996-10732020-03-01136153010.3390/en13061530en13061530Generalized Modeling of Soft-Capture Manipulator with Novel Soft-Contact JointsXiaodong Zhang0Sheng Xu1Chen Jia2Gang Wang3Ming Chu4Beijing Key laboratory of Intelligent Space Robotic Systems Technology and Application, Beijing Institute of Spacecraft System Engineering CAST, Beijing 100086, ChinaSchool of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaSuzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, Suzhou 215163, ChinaSchool of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaSchool of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaThe space-borne manipulator has been playing an important part in docking tasks. Docking collision can easily lead to instability of both the manipulator and floating base. Aiming at the problem of soft capture, a novel soft-contact joint with dual working modes is developed, especially to buffer and unload the spatial collision momentum. Furthermore, considering a series-wound soft-capture manipulator with multi-joints, a generalized modeling method was established by using the Kane approach. Both the benefits of soft-contact joint and the effectiveness of dynamics equations are verified in MATLAB and Adams software by simulations of a two-joint manipulator with eight-DOF. The comparative simulation results showed the advantages of the proposed soft-contact joint in reducing instability from spatial impact.https://www.mdpi.com/1996-1073/13/6/1530soft capturesoft-contact jointdecoupled dampergeneralized modeling method |
| spellingShingle | Xiaodong Zhang Sheng Xu Chen Jia Gang Wang Ming Chu Generalized Modeling of Soft-Capture Manipulator with Novel Soft-Contact Joints Energies soft capture soft-contact joint decoupled damper generalized modeling method |
| title | Generalized Modeling of Soft-Capture Manipulator with Novel Soft-Contact Joints |
| title_full | Generalized Modeling of Soft-Capture Manipulator with Novel Soft-Contact Joints |
| title_fullStr | Generalized Modeling of Soft-Capture Manipulator with Novel Soft-Contact Joints |
| title_full_unstemmed | Generalized Modeling of Soft-Capture Manipulator with Novel Soft-Contact Joints |
| title_short | Generalized Modeling of Soft-Capture Manipulator with Novel Soft-Contact Joints |
| title_sort | generalized modeling of soft capture manipulator with novel soft contact joints |
| topic | soft capture soft-contact joint decoupled damper generalized modeling method |
| url | https://www.mdpi.com/1996-1073/13/6/1530 |
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