Capturing dynamics of flexible ropes for space large-scale end effector

The problems of dynamics during winding and capturing a satellite by the space manipulator end-effector are studied. The winding movement of transverse isotropic flexible wire ropes is described by absolute nodal coordinate formulation (ANCF), and Cardan angles are applied to describe the attitude of the rigid satellite. A rigid-flexible coupling dynamic model containing a stationary ring and a rotation ring fixed on the end-effector, three ropes and a shaft of the captured satellite is established. Nonlinear contact force is introduced to reveal the interaction between shaft and wire ropes. The generalized-α method and the scaling technique are employed to develop a numerical calculation program for solving the dynamic equations precisely and efficiently. Simulation results show that the proposed dynamic model can preferably simulate the processes of flexible wire rope winding and satellite capturing. The change of satellite attitude and rope movement during capturing are obtained, which could provide reference basis for design and test of capturing mechanism.