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

Xiaodong Zhang, Sheng Xu, Chen Jia, Gang Wang and Ming Chu
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Xiaodong Zhang: Beijing Key laboratory of Intelligent Space Robotic Systems Technology and Application, Beijing Institute of Spacecraft System Engineering CAST, Beijing 100086, China
Sheng Xu: School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China
Chen Jia: Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, Suzhou 215163, China
Gang Wang: School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China
Ming Chu: School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China

Energies, 2020, vol. 13, issue 6, 1-26

Abstract: 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.

Keywords: soft capture; soft-contact joint; decoupled damper; generalized modeling method (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2020
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