Space robots with flexible appendages: Dynamic modeling, coupling measurement, and vibration suppression

This paper concerns the dynamic modeling and vibration control of a space two-link flexible manipulator. Two types of PZT actuators, PZT shear actuator and torsional actuator, are used to suppress the bending-torsional-coupled vibration of the space manipulator. Using extended Hamilton’s principle and the finite element method, equations of motion of the space flexible manipulator with PZT actuators and tip mass are obtained. Based on modal analyze theory, the state space model of the system is then used to design the control system. A linear quadratic regulator (LQR) controller is designed to achieve vibration suppression of the space manipulator system. From the numerical results, we can get that the proposed controller has a suitable and efficient performance suppressing the bending-torsional-coupled vibration of the space two-link flexible manipulator.

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Linear Dynamic Modeling of Spacecraft With Various Flexible Appendages

IFAC Proceedings Volumes ◽

10.3182/20080706-5-kr-1001.01889 ◽

2008 ◽

Vol 41 (2) ◽

pp. 11148-11153 ◽

Cited By ~ 4

Author(s):

Khalid H.M. Tantawi ◽

Daniel Alazard ◽

Christelle Cumer

Keyword(s):

Dynamic Modeling ◽

Linear Dynamic ◽

Flexible Appendages

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Dynamic Modeling of the Capture Process of Snare Space Grapple Device

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.217-218.1093 ◽

2011 ◽

Vol 217-218 ◽

pp. 1093-1097

Author(s):

Long Li ◽

Zong Quan Deng ◽

Bing Li

Keyword(s):

Finite Element Method ◽

Finite Element ◽

Dynamic Modeling ◽

Central Body ◽

Solar Sails ◽

Capture Process ◽

Target Vehicle ◽

Process Dynamic ◽

Element Method ◽

Flexible Appendages

Snare space grapple device is designed for grappling large in-orbit payloads. Based on describing the grappling process, dynamic modeling of capturing a free-floating vehicle with large solar sails is performed by using Newton-Euler and hybrid coordinate methods in this paper. The models considering target vehicle as a rigid central body with flexible appendages which are discrete by using finite element method.

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Dynamic Modeling and Vibration Suppression of Double Flexible Mechanical Arm System

ASME 2016 Conference on Information Storage and Processing Systems ◽

10.1115/isps2016-9587 ◽

2016 ◽

Author(s):

Shijie Xu ◽

Yingzi Guan ◽

Youhua Fan

Keyword(s):

Data Storage ◽

Dynamic Modeling ◽

Vibration Suppression ◽

Flexible Structures ◽

Industrial Applications ◽

Accurate Model

Mechanical arms are widely used in various industrial applications, especially in the field of aerospace and data storage [1–2]. Demands of new missions have more stringent requirements than before, and not only dimensions are larger, but also the accuracy. This raises the problem of less accuracy due to vibration of large flexible structures. A great deal of research has been recently focused on vibration suppression [3–6]. All of them have their own advantages, but they are difficult to widely used because their additional requirements on the structure and so on. For this problem, works in this article built an accurate model, and then combines it with Component Synthesis Vibration Suppression (CSVS) method [7–9]. This method can enhance vibration suppression. Results show there are almost no vibration when the maneuvering stopped.

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