Dynamic Characteristics of Free-floating Space Manipulator with Joint Clearance

doi:10.3901/JME.2019.03.099

Abstract

Abstract: The influence of joint clearance on the dynamic characteristics of the free-floating space manipulator is of great significance to the design of the space station manipulator. The joint model with clearance and friction is established by the Lankarani-Nikravesh contact force expression and the dynamic model of free-floating space manipulator with clearance is derived by using the Lagrange equation. The dynamic output characteristics is analyzed by numerical simulation in consideration of the number of joints with clearance and different clearance sizes and the influence of the clearance on the dynamic output characteristics of the free-floating manipulator is studied quantitatively. The results show that the coupling effect of the double joints with clearance leads to the dramatic change of the contact forces, which causes the dynamic output of the free-floating space manipulator to be more intense. The dynamic output of the free-floating space manipulator fluctuates more violently with the larger clearance size, but the fluctuation frequency decreases, which seriously reduces the motion accuracy of space manipulator. This study provides the important basis for the high precision trajectory control of free-floating space manipulator with multiple joints with clearance.

Key words: clearance size, dynamic characteristics, free-floating space manipulator, number of clearance joints

CLC Number:

TH113

GU Yongxia, ZHANG Yuling, ZHAO Jieliang, YAN Shaoze. Dynamic Characteristics of Free-floating Space Manipulator with Joint Clearance[J]. Journal of Mechanical Engineering, 2019, 55(3): 99-108.

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