A strategy to decelerate and capture a spinning object by a dual-arm space robot

Wang, Xiaoyi; Shi, Lingling; Katupitiya, Jayantha

doi:10.1016/j.ast.2021.106682

Cited by 30 publications

(9 citation statements)

References 23 publications

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“…In the literature, many rigid robotic structures are from single-arm to multiple-arms [15,16]. Multiple arms are controlled by more complex control algorithms, such as sliding mode control or adaptive control [17]. For single-arm rigid capturing methods, the classical PID control approach is enough to achieve position and velocity control of the end-effector [18].…”

Section: Introductionmentioning

confidence: 99%

Hybrid-Compliant System for Soft Capture of Uncooperative Space Debris

Delisle

Christidi-Loumpasefski

Yalçin

et al. 2023

Applied Sciences

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Active debris removal (ADR) is positioned by space agencies as an in-orbit task of great importance for stabilizing the exponential growth of space debris. Most of the already developed capturing systems are designed for large specific cooperative satellites, which leads to expensive one-to-one solutions. This paper proposed a versatile hybrid-compliant mechanism to target a vast range of small uncooperative space debris in low Earth orbit (LEO), enabling a profitable one-to-many solution. The system is custom-built to fit into a CubeSat. It incorporates active (with linear actuators and impedance controller) and passive (with revolute joints) compliance to dissipate the impact energy, ensure sufficient contact time, and successfully help capture a broader range of space debris. A simulation study was conducted to evaluate and validate the necessity of integrating hybrid compliance into the ADR system. This study found the relationships among the debris mass, the system’s stiffness, and the contact time and provided the required data for tuning the impedance controller (IC) gains. This study also demonstrated the importance of hybrid compliance to guarantee the safe and reliable capture of a broader range of space debris.

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Section: Introductionmentioning

confidence: 99%

Hybrid-Compliant System for Soft Capture of Uncooperative Space Debris

Delisle

Christidi-Loumpasefski

Yalçin

et al. 2023

Applied Sciences

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“…1 Recently, the growth of non-cooperative objects such as space debris and uncontrollable spacecraft has posed the potential danger to security and execution for the on-orbit space missions. [2][3][4][5][6][7] In general, spacecraft in-orbit service 8 and maintenance and space garbage removal are mainly aimed at space non-cooperative targets.…”

Section: Introductionmentioning

confidence: 99%

An image fusion algorithm based on iterative wavelet transform for space non-cooperative targets

Zhao

Zhou

Sun

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part G:

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Due to the interference of outer space environment, the real image data of non-cooperative targets collected by a single sensor often has problems such as low contrast and insufficient color information display. In this paper, we propose an image fusion method with iterative wavelet transform, which utilizes the respective advantages of visible image and near-infrared image to improve the clarity of space non-cooperative target and retain color information. The dataset in this paper comes from the satellite model group taken by ourselves. Due to different shooting angles and resolutions, we need to carry out accurate registration of near-infrared images and visible light. Therefore, we also propose an improved registration algorithm based on ORB feature matching. In order to verify the effectiveness of the method, other image fusion methods are selected for comparative analysis. The method proposed can preserve texture features and color information of space non-cooperative targets.

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“…Spindle inertia is a key parameter affecting the dynamic characteristics of the moving body. 12,13 Many studies have analyzed and optimized the spindle inertia parameters through design, multiobjective constraints, etc. For example, Zhu et al 14 solved the spindle inertia optimization problems through the Finite-Circle Method.…”

Section: Introductionmentioning

confidence: 99%

A novel assembly method of aero-engine rotors with minimized spindle inertia

Liu

Sun

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part B:

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Assembly is an essential part of aero-engine manufacturing, and the assembly quality will affect the engine’s stability and service life. Spindle inertia is an essential factor affecting aero-engine dynamic performance. Assembly can affect the spindle inertia of the aircraft engine, which in turn affects the dynamic performance of the engine. This paper proposes a transfer model of spindle inertia based on machining error transmission, studying the variation law of spindle inertia of multi-stage rotors under the influence of assembly, providing an optimized assembly method with minimized spindle inertia. The influence law of machining errors on spindle inertia is analyzed through the simulation and probability density method. The assembly results of the designed rotors verify the effectiveness of the inertia transfer and assembly model. The results show that the spindle inertia of multi-stage rotors is affected by machining errors, and the spindle inertia can be adjusted by changing the assembly methods. This paper provides a new idea for the transmission and adjustment of spindle inertia of assembly rotors.

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A strategy to decelerate and capture a spinning object by a dual-arm space robot

Cited by 30 publications

References 23 publications

Hybrid-Compliant System for Soft Capture of Uncooperative Space Debris

Hybrid-Compliant System for Soft Capture of Uncooperative Space Debris

An image fusion algorithm based on iterative wavelet transform for space non-cooperative targets

A novel assembly method of aero-engine rotors with minimized spindle inertia

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