Multipoint Contact Dynamics and the Detumbling Strategy for a Fast-Tumbling Target

Yue Zang; Yao Zhang; Jingrui Zhang; Zixi Guo; Yujun Chen; Shiming Chen

doi:10.1109/TAES.2019.2960681

Multipoint Contact Dynamics and the Detumbling Strategy for a Fast-Tumbling Target

Yue Zang, Yao Zhang^*, Jingrui Zhang, Zixi Guo, Yujun Chen, Shiming Chen

^*Corresponding author for this work

School of Aerospace Engineering

Research output: Contribution to journal › Article › peer-review

10 Citations (Scopus)

Abstract

To ensure the safety of operations with a fast-tumbling target, a detumbling strategy implemented by a dual-arm space robot with finger-type end effectors is proposed to attenuate the target rotation. A detumbling system that consists of the robot and the target is established. Through the contact effects between the two parts, the energy of the target is gradually dissipated. Evaluated by the detumbling duration, energy consumed, and the target movement, the contact strategy is developed. Through numerical simulations, the multipoint contact detumbling is verified feasible to detumble a fast-tumbling target. With suitable parameters, the kinematic response of the detumbling system could be bounded and steady, which makes further operation for the target easier.

Original language	English
Article number	8936485
Pages (from-to)	3113-3122
Number of pages	10
Journal	IEEE Transactions on Aerospace and Electronic Systems
Volume	56
Issue number	4
DOIs	https://doi.org/10.1109/TAES.2019.2960681
Publication status	Published - Aug 2020

Keywords

Detumbling strategy
multipoint contact
tracking motion design

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10.1109/TAES.2019.2960681

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abstract = "To ensure the safety of operations with a fast-tumbling target, a detumbling strategy implemented by a dual-arm space robot with finger-type end effectors is proposed to attenuate the target rotation. A detumbling system that consists of the robot and the target is established. Through the contact effects between the two parts, the energy of the target is gradually dissipated. Evaluated by the detumbling duration, energy consumed, and the target movement, the contact strategy is developed. Through numerical simulations, the multipoint contact detumbling is verified feasible to detumble a fast-tumbling target. With suitable parameters, the kinematic response of the detumbling system could be bounded and steady, which makes further operation for the target easier.",

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AU - Chen, Shiming

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AB - To ensure the safety of operations with a fast-tumbling target, a detumbling strategy implemented by a dual-arm space robot with finger-type end effectors is proposed to attenuate the target rotation. A detumbling system that consists of the robot and the target is established. Through the contact effects between the two parts, the energy of the target is gradually dissipated. Evaluated by the detumbling duration, energy consumed, and the target movement, the contact strategy is developed. Through numerical simulations, the multipoint contact detumbling is verified feasible to detumble a fast-tumbling target. With suitable parameters, the kinematic response of the detumbling system could be bounded and steady, which makes further operation for the target easier.

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Multipoint Contact Dynamics and the Detumbling Strategy for a Fast-Tumbling Target

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Keywords

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