Dynamics analysis of space robot manipulator with joint clearance

作者：Zhao, Yang; Bai, Zheng Feng^*

来源：Acta Astronautica, 2011, 68(7-8): 1147-1155.

DOI：10.1016/j.actaastro.2010.10.004

• Joint clearance
• Space robotics
• Contact
• Robot dynamics
• Dynamics simulation

A computational methodology for analysis of space robot manipulator systems, considering the effects of the clearances in the joint, is presented. The contact dynamics model in joint clearance is established using the nonlinear equivalent spring-damp model and the friction effect is considered using the Coulomb friction model. The space robot system dynamic equation of manipulator with clearance is established. Then the dynamics simulation is presented and the dynamics characteristics of robot manipulator with clearance are analyzed. This work provides a practical method to analyze the dynamics characteristics of space robot manipulator with joint clearance and improves the engineering application. The computational methodology can predict the effects of clearance on space robot manipulator preferably, which is the basis of space robot manipulator design, precision analysis and ground test.

• 出版日期2011-5
• 单位哈尔滨工业大学