Design and Configuration Control of Space Robots Undergoing Impact

摘要

The necessity of robot manipulators in space is a one-way reality. The aim of this research work is to produce guidelines for grasping objects on orbit with the use of a space manipulator, such that manipulator reaction forces are minimized and therefore minimum disturbance forces are transmitted to its base. Impact reaction forces appear during the contact of two bodies. A methodology that uses the property of the percussion point of bodies that can rotate around a fixed axis is presented. The equations that describe the percussion point are developed. These functions are studied in depth to predict the best configuration of a manipulator during impact. A number of simulations are executed in order to examine the validity of these predictions, and guidelines suggesting optimal approach configurations are proposed.