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DYNAMICS OF A FLEXIBLE MULTI-LINK COSMIC ROBOT-MANIPULATOR

โœ Scribed by V.I. GOULIAEV; T.V. ZAVRAZHINA

Publisher
Elsevier Science
Year
2001
Tongue
English
Weight
351 KB
Volume
243
Category
Article
ISSN
0022-460X

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โœฆ Synopsis

The problem of dynamic and kinematic control of the spatial movements of a #exible multi-link manipulator, mounted on a platform freely moving in cosmic space, is de"ned. Allowance for distributed properties of elasticity and inertia of the manipulator links is made, based upon the design model of the Euler}Bernoulli beam on the assumption that each element is in compound motion. A technique for the numerical construction of solutions for an essentially non-linear hybrid-type system of constituent equations is proposed. Examples of computer simulation of the dynamics of a two-link cosmic robot, manipulating a useful body, are considered. Comparisons are made between the results of calculations and data on the dynamic behaviour of a rigid cosmic manipulator with equivalent geometrical and inertial parameters.

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