Modeling and Dynamic Characteristic Analysis of Space Robotic Cables (Flexible Bodies)

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	Modeling and Dynamic Characteristic Analysis of Space Robotic Cables (Flexible Bodies)
	Chen JB(陈吉彪)2,3,3; Chen P(陈鹏)2,3,4; Yang SK(杨尚奎)1,2,3; Liu YW(刘玉旺)2,3
	2019
会议日期	October 17-19, 2019
会议地点	Dublin, Ireland
关键词	space robotic joints strong non-linear interference space robotic cable models physical characteristics of space cables End operation of robots
页码	712-715
英文摘要	Space robotic cables are responsible for the transmission of load data and power at the end of robots. They are mounted on the space robot bodies and will move along with the robot bodies. In the extreme environment of coupling of high and low temperatures, radiation and microgravity in space, the cables covered by shielding layers will become extremely heavy and hard, while the joints of space robots under strict resource constraints are relatively weak. In the course of motion, heavy cables will cause strong non-linear interference to weak joints of space robots, leading to slow rotation or oscillation of joints at specific locations. Studying the physical characteristics of space cables, the mechanical properties of space robotic joints and their coupling relationship is of great significance to improve the accuracy and stability of space robots' terminal operation. In this paper, the mathematical model of space robotic cables is numerically verified and theoretically analyzed, which proves the validity and rationality of the proposed model.
源文献作者	Institute of Electrical and Electronics Engineers Inc.
产权排序	1
会议录	Proceedings - 2019 International Conference on Artificial Intelligence and Advanced Manufacturing, AIAM 2019
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-7281-4691-1
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/26868]
专题	沈阳自动化研究所_空间自动化技术研究室
通讯作者	Liu YW(刘玉旺)
作者单位	1.School of Mechanical Engineering and Automation, Northeastern University, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences 4.School of Mechanical Engineering, Shenyang Ligong University, Shenyang, China
推荐引用方式 GB/T 7714	Chen JB,Chen P,Yang SK,et al. Modeling and Dynamic Characteristic Analysis of Space Robotic Cables (Flexible Bodies)[C]. 见:. Dublin, Ireland. October 17-19, 2019.