Vibration analysis of a free-floating flexible space manipulator in on-orbit capture collision

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Journal of Vibration and Shock ›› 2018, Vol. 37 ›› Issue (1) : 187-195.

JIA Qingxuan, HONG Xunchao, CHEN Gang, ZHANG Long

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Abstract

Aiming at the capture task performed by a free-floating flexible space manipulator, a method for analyzing the system responses causes by the contact between the end-effector of the space manipulator and the target was proposed. Based on the cantilever beam model and the assumed mode method, a kinematics model of the space manipulator considering its flexible links was established. The Hertz damping model was adopted to simulate the soft contact process and according to the Lagrange equation, a contact dynamics model of the space manipulator was also established. On this basis, the response equations of the system due to the external excitation were deduced with its joints free or completely controlled. Finally, the responses of the space manipulator were analyzed by using the numerical simulation with its joints in special state and its end-effector contacting with the target. The numerical simulation results show that when the manipulator performs the capture task, the impact force may be huge, and the forces suffered by its joints may even exceed its limit. Meanwhile, due to the deformations in the motion plane and perpendicular plane caused by the impact are in the same order of magnitude, the impact responses in both planes should be considered simultaneously.

Key words

flexible space manipulator / cantilever beam / assumed mode method / continuous contact force model / vibration analysis

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JIA Qingxuan, HONG Xunchao, CHEN Gang, ZHANG Long. Vibration analysis of a free-floating flexible space manipulator in on-orbit capture collision[J]. Journal of Vibration and Shock, 2018, 37(1): 187-195

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