Next Article in Journal
Towards an Assembly Support System with Dynamic Bayesian Network
Next Article in Special Issue
An Experimental Study on the Vibration Transmission Characteristics of Wrist Exposure to Hand Transmitted Vibration
Previous Article in Journal
The Origin and Physico-Chemical Properties of Some Unusual Earth Rock Fragments
Previous Article in Special Issue
Correlation Analysis and Its Application on an Asymmetry Rotor Structure with Overhang
 
 
Article

Capturing a Space Target Using a Flexible Space Robot

1
Key Laboratory of Hydrodynamics of Ministry of Education, School of Naval Architecture, Ocean & Civil Engineering, Shanghai Jiaotong University, Shanghai 200240, China
2
State Key Laboratory of Ocean Engineering, Shanghai Jiaotong University, Shanghai 200240, China
*
Author to whom correspondence should be addressed.
Academic Editor: Shuaishuai Sun
Appl. Sci. 2022, 12(3), 984; https://doi.org/10.3390/app12030984
Received: 22 November 2021 / Revised: 16 December 2021 / Accepted: 27 December 2021 / Published: 19 January 2022
Capturing space targets by space robots is significant for on-orbit service and is a challenging research topic nowadays. This paper focuses on the dynamics and control of capturing a non-cooperative space target by a space robot with a long flexible manipulator. Firstly, the dynamic equation of the flexible space robot is given. The Hertz contact model is used to describe the contact force between the robot and the target. Secondly, an active compliance controller is designed to reduce the capture impact on the robot. Finally, the capture impact on the whole system is analyzed in detail in four scenarios: the combination of two kinds of movement forms and two kinds of relative positions of the robot and the target before capturing. Simulation results indicate that the capturing operation may cause complicated dynamic behaviors such as the vibration of elastic links and the continuous collision of the target. Moreover, the results show that the control method effectively offsets the capture impact on the space robot system. In general, this work lays a theoretical foundation for further study of the dynamic phenomena of the capture process. View Full-Text
Keywords: flexible space robot; space target; capture; impact; control flexible space robot; space target; capture; impact; control
Show Figures

Figure 1

MDPI and ACS Style

Liu, X.-F.; Zhang, X.-Y.; Cai, G.-P.; Chen, W.-J. Capturing a Space Target Using a Flexible Space Robot. Appl. Sci. 2022, 12, 984. https://doi.org/10.3390/app12030984

AMA Style

Liu X-F, Zhang X-Y, Cai G-P, Chen W-J. Capturing a Space Target Using a Flexible Space Robot. Applied Sciences. 2022; 12(3):984. https://doi.org/10.3390/app12030984

Chicago/Turabian Style

Liu, Xiao-Feng, Xiao-Yu Zhang, Guo-Ping Cai, and Wu-Jun Chen. 2022. "Capturing a Space Target Using a Flexible Space Robot" Applied Sciences 12, no. 3: 984. https://doi.org/10.3390/app12030984

Find Other Styles
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop