Paper Title:
Space Robot Self-Assembling Parameter Analysis
  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.

  Info
Periodical
Advanced Materials Research (Volumes 308-310)
Chapter
New Mechanisms and Robotics
Edited by
Jian Gao
Pages
1975-1980
DOI
10.4028/www.scientific.net/AMR.308-310.1975
Citation
T. X. Liu, L. Liang, W. Cheng, Y. Zhao, "Space Robot Self-Assembling Parameter Analysis", Advanced Materials Research, Vols. 308-310, pp. 1975-1980, 2011
Online since
August 2011
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Price
$32.00
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