Multipoint Contact Dynamics and the Detumbling Strategy for a Fast-Tumbling Target

摘要

To ensure the safety of operations with a fast-tumbling target, a detumbling strategy implemented by a dual-arm space robot with finger-type end effectors is proposed to attenuate the target rotation. A detumbling system that consists of the robot and the target is established. Through the contact effects between the two parts, the energy of the target is gradually dissipated. Evaluated by the detumbling duration, energy consumed, and the target movement, the contact strategy is developed. Through numerical simulations, the multipoint contact detumbling is verified feasible to detumble a fast-tumbling target. With suitable parameters, the kinematic response of the detumbling system could be bounded and steady, which makes further operation for the target easier.