A model order reduction method for impact-contact dynamics simulation of flexible space robotic manipulator

作者：Qiao Bing^*; Wu Xiao Jian

来源：Journal of Sichuan University(Engineering Science Edition), 2012, 44: 214-220.

• Corresponding state
• Dynamics models
• Dynamics simulation
• Eigenvalues
• Force model
• High frequency
• Impact-contact
• Modal response
• Model order reduction
• Planar robotic manipulator
• Real part
• Reference points
• Rigid body approximations
• Space robotic manipulators
• State space equation

A new method of model order reduction for impact-contact dynamics simulation of space robotic manipulator was proposed. The impact-contact dynamics model of space robotic manipulator was constructed through the rigid body approximation method and Herz impact-contact force model. The corresponding state space equation of the space robotic manipulator was obtained by the linearization to the impact-contact dynamics model at the reference point. Then the eigenvalues of this linearized state space equation were solved to deal with the model order reduction of the system in which the eigenvalues with larger negative real part were disregarded because these eigenvalues usually represent the rapidly decayed modal responses with high frequencies. An example of 3-DOF planar robotic manipulator conducting contact manipulation was presented to verify the feasibility and efficiency of the proposed model order reduction method.

• 出版日期2012
• 单位南京大学