Dynamic Analysis of 3D Multi Rigid Bodies with Discontinuous Velocities. (3rd Report). Target Capture Problem of Space Robot.

1996 ◽  
Vol 44 (514) ◽  
pp. 655-661 ◽  
Author(s):  
Shinji SUZUKI ◽  
Hirohisa KOJIMA ◽  
Daiichirou MATSUNAGA
Keyword(s):  
Dynamic Analysis ◽  
Rigid Bodies ◽  
Space Robot ◽  
Target Capture

Formulation of the Equations of Motion of RRPR Robot Manipulator

2000 ◽  
Author(s):  
Hazem Ali Attia ◽  
Tarek M. A. El-Mistikawy ◽  
Adel A. Megahed
Keyword(s):  
Dynamic Analysis ◽  
Efficient Solution ◽  
Robot Manipulator ◽  
Equations Of Motion ◽  
Rigid Bodies ◽  
Second Law ◽  
Equivalent System ◽  
Constraint Forces ◽  
Dynamic Formulation ◽  
System Of Particles

Abstract In this paper the dynamic analysis of RRPR robot manipulator is presented. The equations of motion are formulated using a two-step transformation. Initially, a dynamically equivalent system of particles that replaces the rigid bodies is constructed and then Newton’s second law is applied to derive their equations of motion. The equations of motion are then transformed to the relative joint variables. Use of both Cartesian and joint variables produces an efficient set of equations without loss of generality. For open chains, this process automatically eliminates all of the non-working constraint forces and leads to an efficient solution and integration of the equations of motion. The results of the simulation indicate the simplicity and generality of the dynamic formulation.

The Mobility Equation and the Solvability of Joint Forces/Torques in Dynamic Analysis

1992 ◽  
Vol 114 (2) ◽  
pp. 257-262 ◽  
Author(s):  
Shin-Min Song ◽  
Xiaochun Gao
Keyword(s):  
Dynamic Analysis ◽  
Static Analysis ◽  
Rigid Bodies ◽  
Walking Machines ◽  
Spatial Mechanisms ◽  
Joint Forces ◽  
Simple Rules ◽  
Redundant Actuators

The mobility equation has been applied to predict the indeterminacy of unknown joint forces/torques in static analysis. In this paper, the mobility equation is modified to investigate the solvability of joint forces/torques of spatial mechanisms in dynamic analysis. Each factor which may contribute to indeterminacy is discussed and is explicitly expressed in the equation. With the modifications, the mobility equation can be applied to a system with or without redundant actuators. Together with the concept of subspaces and a few simple rules, the mobility equation can be used to identify the solvability of every joint unknown, as well as the equations which are required for the solutions, under the assumption of rigid bodies. This method can be used as a guidance of dynamic analysis in dealing with complicated systems such as walking machines and multi-fingered grippers.

Minimum Base Attitude Disturbance Planning for a Space Robot During Target Capture

2018 ◽  
Vol 10 (5) ◽  
Author(s):  
Jingchen Hu ◽  
Tianshu Wang
Keyword(s):  
Angular Velocity ◽  
Analytical Formula ◽  
Space Robot ◽  
Velocity Change ◽  
Constant Multiple ◽  
Planar Space ◽  
Target Capture ◽  
Spatial Operator ◽  
Impact Phase ◽  
The Impact

This paper presents a method to minimize the base attitude disturbance of a space robot during target capture. First, a general dynamic model of a free-floating space robot capturing a target is established using spatial operator Algebra, and a simple analytical formula for the base angular velocity change during the impact phase is obtained. Compared with the former models proposed in the literature, this model has a simpler form, a wider range of applications, and O(n) computation complexity. Second, based on the orthogonal projection matrix lemma, we propose the generalized mass Jacobian matrix (GMJM) and find that the base angular velocity change is a constant multiple of the component which the impact impulse projects to the column space of the GMJM. Third, a new concept, the base attitude disturbance ellipsoid (BADE), is proposed to express the relationship between the base attitude disturbance and the impact direction. The impact direction satisfying the minimum base attitude disturbance can be straightforwardly obtained from the BADE. In particular, for a planar space robot, we draw the useful conclusion that the impact direction unchanged base attitude must exist. Furthermore, the average axial length of the BADE is used as a measurement to illustrate the average base attitude disturbance under impact impulses from different directions. With this measurement, the desired pre-impact configuration with minimum average base attitude disturbance can be easily determined. The validity and the efficiency of this method are verified using a three-link planar space robot and a 7DOF space robot.

Dynamic analysis and trajectory tracking of a tethered space robot

2016 ◽  
Vol 128 ◽  
pp. 335-342 ◽  
Author(s):  
Mehrzad Soltani ◽  
Mehdi Keshmiri ◽  
Arun K. Misra
Keyword(s):  
Dynamic Analysis ◽  
Trajectory Tracking ◽  
Space Robot

Dynamic Analysis and Parametric Excitation of a Multi-Span Beam Structure Coupled With a Sequence of Moving Rigid Bodies

2018 ◽  
Author(s):  
Hao Gao ◽  
Bingen Yang
Keyword(s):  
Rigid Body ◽  
Dynamic Analysis ◽  
Parametric Resonance ◽  
Degrees Of Freedom ◽  
Coupled System ◽  
Rigid Bodies ◽  
Time Varying ◽  
Beam Structure ◽  
Assumed Mode Method ◽  
Mode Method

Dynamic analysis of a multi-span beam structure carrying moving rigid bodies is essentially important in various engineering applications. With many rigid bodies having different speeds and varying inter-distances, number of degrees of freedom of the coupled beam-moving rigid body system is time-varying and the beam-rigid body interaction is thus complicated. Developed in this paper is a method of extended solution domain (ESD) that resolves the issue of time-varying number of degrees and delivers a consistent mathematical model for the coupled system. The governing equation of the coupled system is derived with generalized assumed mode method through use of exact eigenfunctions and solved via numerical integration. Numerical simulation shows the accuracy and efficiency of the proposed method. Moreover, a preliminary study on parametric resonance on a beam structure with 10 rigid bodies provides guidance for future development of conditions on parametric resonance induced by moving rigid bodies, which can be useful for operation of certain coupled structure systems.

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