Space Robot Self-Assembling Parameter Analysis
Year: 2011
Type: article
Abstract: With the depth of space exploration and applications, the space robot self-assembling has become more and more important for space on-orbit service. Parameter analysis is an indispensable work of assembling process design. The dynamic model of the space robot with target is established firstly, then the Hertz model is introduced as the collision model between the docking link and the capturing cone, and the operational space control is applied to achieve the assembling operation control under the Cartesian space. Then the paper focuses on the discussion and analysis of the influences of the parameters such as the stiffness coefficient, friction coefficient, leading speed coefficient and vertical speed damping coefficient on the assembling characteristics. The simulation results would provide a basis for assembling control and parameter design and have an important academic value and engineering significance on space service.
Source: Advanced materials research
Authors: Tian Xi Liu, Lei Liang, Wei Cheng, Yang Zhao
Institution: Harbin Institute of Technology
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
OpenAlex ID: W1977804948