Configuration Optimization for Free-Floating Space Robot Capturing Tumbling Target
The maximum contact force is one of the most important indicators for contact problems. In this paper, the configuration optimization is conducted to reduce the maximum contact force for a free-floating space robot capturing tumbling target. First, the dynamics model of a free-floating space robot i...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-01-01
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| Series: | Aerospace |
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| Online Access: | https://www.mdpi.com/2226-4310/9/2/69 |
| _version_ | 1827658121318760448 |
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| author | Long Zhang |
| author_facet | Long Zhang |
| author_sort | Long Zhang |
| collection | DOAJ |
| description | The maximum contact force is one of the most important indicators for contact problems. In this paper, the configuration optimization is conducted to reduce the maximum contact force for a free-floating space robot capturing tumbling target. First, the dynamics model of a free-floating space robot is given, with which the inertial properties perceived at the end-effector can be derived. Combing the inertial properties of the contact bodies, a novel concept of integrated effective mass is proposed. It tries to transform the complex contact process into the energy change of a virtual single body with integrated effective mass. On this basis, a more general continuous contact model is established, which is also suitable for non-central collisions between space robot and the tumbling target. Thereafter, the maximum contact force is derived as an important indicator for the null-space optimization method to reduce the maximum contact force. Finally, numerical simulations with a 3-degree-of-freedom free-floating space robot and a 7-degree-of-freedom free-floating space robot, as the research objects, are carried out respectively and the results show the effectiveness of the method proposed. |
| first_indexed | 2024-03-09T22:54:26Z |
| format | Article |
| id | doaj.art-aaf186758f674f8a838f47572b8444eb |
| institution | Directory Open Access Journal |
| issn | 2226-4310 |
| language | English |
| last_indexed | 2024-03-09T22:54:26Z |
| publishDate | 2022-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Aerospace |
| spelling | doaj.art-aaf186758f674f8a838f47572b8444eb2023-11-23T18:14:10ZengMDPI AGAerospace2226-43102022-01-01926910.3390/aerospace9020069Configuration Optimization for Free-Floating Space Robot Capturing Tumbling TargetLong Zhang0Key Laboratory of Space Utilization, Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing 100094, ChinaThe maximum contact force is one of the most important indicators for contact problems. In this paper, the configuration optimization is conducted to reduce the maximum contact force for a free-floating space robot capturing tumbling target. First, the dynamics model of a free-floating space robot is given, with which the inertial properties perceived at the end-effector can be derived. Combing the inertial properties of the contact bodies, a novel concept of integrated effective mass is proposed. It tries to transform the complex contact process into the energy change of a virtual single body with integrated effective mass. On this basis, a more general continuous contact model is established, which is also suitable for non-central collisions between space robot and the tumbling target. Thereafter, the maximum contact force is derived as an important indicator for the null-space optimization method to reduce the maximum contact force. Finally, numerical simulations with a 3-degree-of-freedom free-floating space robot and a 7-degree-of-freedom free-floating space robot, as the research objects, are carried out respectively and the results show the effectiveness of the method proposed.https://www.mdpi.com/2226-4310/9/2/69free-floating space robotconfiguration optimizationmaximum contact forceintegrated effective masstumbling target capture |
| spellingShingle | Long Zhang Configuration Optimization for Free-Floating Space Robot Capturing Tumbling Target Aerospace free-floating space robot configuration optimization maximum contact force integrated effective mass tumbling target capture |
| title | Configuration Optimization for Free-Floating Space Robot Capturing Tumbling Target |
| title_full | Configuration Optimization for Free-Floating Space Robot Capturing Tumbling Target |
| title_fullStr | Configuration Optimization for Free-Floating Space Robot Capturing Tumbling Target |
| title_full_unstemmed | Configuration Optimization for Free-Floating Space Robot Capturing Tumbling Target |
| title_short | Configuration Optimization for Free-Floating Space Robot Capturing Tumbling Target |
| title_sort | configuration optimization for free floating space robot capturing tumbling target |
| topic | free-floating space robot configuration optimization maximum contact force integrated effective mass tumbling target capture |
| url | https://www.mdpi.com/2226-4310/9/2/69 |
| work_keys_str_mv | AT longzhang configurationoptimizationforfreefloatingspacerobotcapturingtumblingtarget |