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Emergency ejection characteristics of space manipulator multi-body system

Published online by Cambridge University Press:  14 August 2023

He Cai Open the ORCID record for He Cai [Opens in a new window] ,
Yanbo Wang ,
Songbo Deng  and
Tao Yang
He Cai
Affiliation:
Laboratory of Aerospace Servo Actuation and Transmission, Beijing Institute of Precision Mechatronics and Controls, Beijing, China
Yanbo Wang*
Affiliation:
Laboratory of Aerospace Servo Actuation and Transmission, Beijing Institute of Precision Mechatronics and Controls, Beijing, China
Songbo Deng
Affiliation:
Laboratory of Aerospace Servo Actuation and Transmission, Beijing Institute of Precision Mechatronics and Controls, Beijing, China
Tao Yang
Affiliation:
Laboratory of Aerospace Servo Actuation and Transmission, Beijing Institute of Precision Mechatronics and Controls, Beijing, China
*
Corresponding author: Yanbo Wang; Email: www-2001@163.com
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Abstract

Space manipulators are typically installed on spacecraft using an emergency separation device (ESD). In the event of a malfunction, the ESD ejects the manipulator from the spacecraft. However, due to the relative rotation of the manipulator’s joints during the ejection, the equivalent ejection mass varies depending on different attitudes. This paper focuses on studying manipulators equipped with separation slide rails and analyzes their ejection characteristics under different attitudes to determine the optimal manipulator attitude for ejection. Initially, the ejection dynamics model of the space manipulator is established using the Lagrangian method, based on the kinetic energy equation, kinematics equation, and the boundary condition between the manipulator and ESD. Afterward, the space dynamics model is transformed into the dynamic model of plane ejection state by recursion formula. From this model, the equivalent ejection mass and ejection velocity are obtained, and the joint angular variation during ejection is acquired by considering joint friction torque. Using the law of conservation of angular momentum, the ejection angular velocity is then calculated. Finally, this study selected a 7-DOF space manipulator as an example and adjusted the damping parameter B of the joint for more precise calculations by choosing the attitude with a relatively larger joint angular variation. The modified model was then tested for its applicability to other attitudes. After determining the value of B, the correctness of the algorithm was validated by MATLAB calculation, ADAMS simulation, and real object ejection test.

Keywords

ejection of space manipulatorequivalent ejection massejection velocityjoint angular variationejection angular velocity
Type
Research Article
Information
Robotica , Volume 41 , Issue 11 , November 2023 , pp. 3252 - 3274
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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