Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint Failure
For the free-floating space manipulator with free-swinging joint failure, motions among its active joints, passive joints, free-floating base, and end-effector are coupled. It is significant to make clear all motion coupling relationships, which are defined as “kinematic coupling relationships” and...
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| Format: | Article |
| Language: | English |
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Wiley
2019-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2019/2679152 |
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| author | Qingxuan Jia Bonan Yuan Gang Chen Yingzhuo Fu |
| author_facet | Qingxuan Jia Bonan Yuan Gang Chen Yingzhuo Fu |
| author_sort | Qingxuan Jia |
| collection | DOAJ |
| description | For the free-floating space manipulator with free-swinging joint failure, motions among its active joints, passive joints, free-floating base, and end-effector are coupled. It is significant to make clear all motion coupling relationships, which are defined as “kinematic coupling relationships” and “dynamic coupling relationships,” inside the system. With the help of conservation of system momentum, the kinematic model is established, and velocity mapping relation between active joints and passive joints, velocity mapping relation between active joints and base, velocity mapping relation between active joints and end-effector. We establish the dynamic model based on the Lagrange equation, and the system inertia matrix is partitioned according to the distribution of active joints, passive joints, and the base. Then, kinematic and dynamic coupling relationships are explicitly derived, and coupling indexes are defined to depict coupling degree. Motions of a space manipulator with free-swinging joint failure simultaneously satisfy the first-order nonholonomic constraint (kinematic coupling relationships) and the second-order nonholonomic constraint (dynamic coupling relationships), and the manipulator can perform tasks through motion planning and control. Finally, simulation experiments are carried out to verify the existence and correctness of the first-order and second-order nonholonomic constraints and display task execution effects of the space manipulator. This research analyzes the kinematic and dynamic characteristics of the free-floating space manipulator with free-swinging joint failure for the first time. It is the theoretical basis of free-swinging joint failure treatment for a space manipulator. |
| format | Article |
| id | doaj-art-beb21dbc3609407394eae6cbf624ae2c |
| institution | Kabale University |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-beb21dbc3609407394eae6cbf624ae2c2025-02-03T05:54:16ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742019-01-01201910.1155/2019/26791522679152Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint FailureQingxuan Jia0Bonan Yuan1Gang Chen2Yingzhuo Fu3School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaSchool of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaSchool of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaSchool of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaFor the free-floating space manipulator with free-swinging joint failure, motions among its active joints, passive joints, free-floating base, and end-effector are coupled. It is significant to make clear all motion coupling relationships, which are defined as “kinematic coupling relationships” and “dynamic coupling relationships,” inside the system. With the help of conservation of system momentum, the kinematic model is established, and velocity mapping relation between active joints and passive joints, velocity mapping relation between active joints and base, velocity mapping relation between active joints and end-effector. We establish the dynamic model based on the Lagrange equation, and the system inertia matrix is partitioned according to the distribution of active joints, passive joints, and the base. Then, kinematic and dynamic coupling relationships are explicitly derived, and coupling indexes are defined to depict coupling degree. Motions of a space manipulator with free-swinging joint failure simultaneously satisfy the first-order nonholonomic constraint (kinematic coupling relationships) and the second-order nonholonomic constraint (dynamic coupling relationships), and the manipulator can perform tasks through motion planning and control. Finally, simulation experiments are carried out to verify the existence and correctness of the first-order and second-order nonholonomic constraints and display task execution effects of the space manipulator. This research analyzes the kinematic and dynamic characteristics of the free-floating space manipulator with free-swinging joint failure for the first time. It is the theoretical basis of free-swinging joint failure treatment for a space manipulator.http://dx.doi.org/10.1155/2019/2679152 |
| spellingShingle | Qingxuan Jia Bonan Yuan Gang Chen Yingzhuo Fu Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint Failure International Journal of Aerospace Engineering |
| title | Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint Failure |
| title_full | Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint Failure |
| title_fullStr | Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint Failure |
| title_full_unstemmed | Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint Failure |
| title_short | Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint Failure |
| title_sort | kinematic and dynamic characteristics of the free floating space manipulator with free swinging joint failure |
| url | http://dx.doi.org/10.1155/2019/2679152 |
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