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Equivalence Analysis of Mass and Inertia for Simulated Space Manipulator Based on Constant Mass

1
Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
2
State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
3
Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing 100084, China
*
Author to whom correspondence should be addressed.
Machines 2017, 5(4), 31; https://doi.org/10.3390/machines5040031
Received: 3 November 2017 / Revised: 4 December 2017 / Accepted: 4 December 2017 / Published: 7 December 2017
A simulated space manipulator is designed to verify the reliability of the zero-gravity simulation system, which can avoid the risks of experiments involving the space manipulator in this zero-gravity ground system. To achieve similarity between the simulated and actual space manipulators, the mass, barycenter, and inertia must be considered. In this study, a counterweight component is designed and an optimization method is used to match the mass parameters of the simulated joints to those of the space joints. In addition, an equivalence method is used to establish the relationship between the torques of these two manipulators. View Full-Text
Keywords: simulated space manipulator; zero-gravity system; mass-matching; equivalence analysis simulated space manipulator; zero-gravity system; mass-matching; equivalence analysis
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Tian, S.; Tang, X.; Xiang, C. Equivalence Analysis of Mass and Inertia for Simulated Space Manipulator Based on Constant Mass. Machines 2017, 5, 31.

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