Planar Dynamics of Flexible Manipulators with Slewing Deployable Links

摘要

Space manipulators present several features uncommon to ground-based robots: They are highly flexible, are often mobile, and have a degree of redundancy. As space robots become more complex, efficient algorithms are required for their simulation and control. The present study uses an order N algorithm, based on the Lagrangian approach and velocity transformations, to simulate the planar dynamics of an orbiting manipulator with arbitrary number of slewing and deployable flexible links. The relatively general formulation accounts for interactions between orbital, librational, slewing, deployment, and vibrational degrees of freedom and, thus, is applicable to a large class of manipulator systems of contemporary interest. A parametric analysis of the system dynamics suggests significant coupling between the rigid-body motion and structural vibrations. Obviously, this would affect the manipulator's performance. A nonlinear controller based on the feedback linearization technique is developed to regulate the rigid degrees of freedom. Nomenclature />/ = vector describing the position of F/ relative to F0 d = translation of the frame F/ from the tip of the (/th-l)body dm/ = mass of the infinitesimal element located on the /th body E AI , EIj = structural stiffness of the /th body in the