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Open AccessArticle

Generalized Modeling of Soft-Capture Manipulator with Novel Soft-Contact Joints

1
Beijing Key laboratory of Intelligent Space Robotic Systems Technology and Application, Beijing Institute of Spacecraft System Engineering CAST, Beijing 100086, China
2
School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China
3
Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, Suzhou 215163, China
*
Authors to whom correspondence should be addressed.
Energies 2020, 13(6), 1530; https://doi.org/10.3390/en13061530 (registering DOI)
Received: 12 February 2020 / Revised: 18 March 2020 / Accepted: 20 March 2020 / Published: 24 March 2020
The space-borne manipulator has been playing an important part in docking tasks. Docking collision can easily lead to instability of both the manipulator and floating base. Aiming at the problem of soft capture, a novel soft-contact joint with dual working modes is developed, especially to buffer and unload the spatial collision momentum. Furthermore, considering a series-wound soft-capture manipulator with multi-joints, a generalized modeling method was established by using the Kane approach. Both the benefits of soft-contact joint and the effectiveness of dynamics equations are verified in MATLAB and Adams software by simulations of a two-joint manipulator with eight-DOF. The comparative simulation results showed the advantages of the proposed soft-contact joint in reducing instability from spatial impact. View Full-Text
Keywords: soft capture; soft-contact joint; decoupled damper; generalized modeling method soft capture; soft-contact joint; decoupled damper; generalized modeling method
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Zhang, X.; Xu, S.; Jia, C.; Wang, G.; Chu, M. Generalized Modeling of Soft-Capture Manipulator with Novel Soft-Contact Joints. Energies 2020, 13, 1530.

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