摘要
In response to the demands for precision operations in space missions,a serial-parallel hybrid free-floating space system is proposed that integrates the “macro” dynamic characteristics of space manipulators with the “micro” dynamic features of payload-pointing and controlled parallel platforms. A macro-micro cooperative precision operation strategy is subsequently designed for this system. Initially,a generic dynamic model of the tree-like multi-body system is established based on Kane's equations. By incorporating the kinematic constraints of each articulated joint along with the closed-loop constraints of the parallel platform,we derive the dynamic model for the serial-parallel hybrid space system. Following this,an analysis of motion coupling relations among various bodies within the free-floating. The system—grounded in principles of linear and angular momentum conservation—is conducted. This analysis culminates in developing a macro-micro cooperative operation strategy tailored for the hybrid system. Finally,numerical simulations are performed to validate both the accuracy of the dynamic model and the effectiveness of the macro-micro cooperative operation strategy,thereby providing valuable insights into engineering applications involving serial-parallel hybrid systems.
投稿的翻译标题 | On-orbit Cooperative Precise Operation Strategy for Serial-parallel Hybrid Systems |
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源语言 | 繁体中文 |
页(从-至) | 1838-1848 |
页数 | 11 |
期刊 | Yuhang Xuebao/Journal of Astronautics |
卷 | 45 |
期 | 11 |
DOI | |
出版状态 | 已出版 - 11月 2024 |
关键词
- Cooperative operation strategy
- Coupling relations
- Dynamic model
- Hybrid system