Evaluation of Dynamic Load-Carrying Capacity for Free-Floating Space Manipulators

Yong Liu; Qing Xuan Jia; Gang Chen; Han Xu Sun; Jun Jie Peng

doi:10.4028/www.scientific.net/AMM.713-715.795

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 713-715Evaluation of Dynamic Load-Carrying Capacity for...

Evaluation of Dynamic Load-Carrying Capacity for Free-Floating Space Manipulators

Abstract:

Two kinds of dynamic load-carrying capacity (DLCC) evaluation methods for free-floating space manipulators (FFSM) in two typical on-orbit operating missions are proposed in this paper. DLCC evaluation is transformed into nonlinear programming problem (NPP) by introducing load-carrying coefficient to measure DLCC: in point-to-point task, penalty function method is adopted to approach the boundary of feasible region rapidly, then DLCC can be obtained through following iterations; in trajectory tracking task, NPP is solved by using multiple one-dimensional search, the dynamic load-carrying coefficient in discontinuous feasible region can be quickly solved through adjusting the searching boundary constantly. The effectiveness of the mentioned methods is verified by simulations.

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Periodical:

Applied Mechanics and Materials (Volumes 713-715)

Pages:

795-799

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.713-715.795

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Online since:

January 2015

Authors:

Yong Liu*, Qing Xuan Jia, Gang Chen, Han Xu Sun, Jun Jie Peng

Keywords:

DLCC, Nonlinear Programming Problem, Space Manipulator

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