Abstract
Space manipulators are important spacecraft tools used to complete a variety of tasks. The trajectory precision of the end effector determines whether the mechanism performs normally. Harmonic drives are widely used as reducers in space manipulators to influence the dynamics of the flexible space manipulator. The dynamics equations with hysteretic effects were developed for a flexible space manipulator based on the Euler-Bernoulli beam model. Four types of dynamic models are used to analyze the space manipulator including the rigid model, the rigid harmonic model, the flexible model and the harmonic flexible model. The simulations show that the flexibility of the space manipulator introduces significant high frequency components into the output that are not present in a rigid space manipulator. Moreover, there is significant motion hysteresis in the flexible space manipulator with the harmonic drive.
| Original language | English |
|---|---|
| Pages (from-to) | 482-486 |
| Number of pages | 5 |
| Journal | Qinghua Daxue Xuebao/Journal of Tsinghua University |
| Volume | 53 |
| Issue number | 4 |
| Publication status | Published - 2013 |
| Externally published | Yes |
Keywords
- Dynamic properties
- Flexible space manipulator
- Harmonic drive
- Motion hysteresis