Application of a planar air-bearing microgravity simulator for demonstration of operations required for an orbital capture with a manipulator

Rybus, Tomasz; Seweryn, K.; Oleś, Jakub; Basmadji, Fatina Liliana; Tarenko, Kamil; Moczydłowski, Radosław; Barciński, Tomasz; Kindracki, Jan; Mężyk, Łukasz; Paszkiewicz, Przemysław; Wolański, P.

doi:10.1016/j.actaastro.2018.12.004

Cited by 36 publications

(20 citation statements)

References 18 publications

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“…12 and 13 suggest that for systems such as the one presented in ref. [65] the obtained trajectory is feasible and could be realised in experiments. Moreover, as explained in Section 4, the velocity with which the manipulator moves on the defined trajectory does not influence the final orientation of the chaser satellite.…”

Section: Discussionmentioning

confidence: 98%

“…The general equations of the satellite-manipulator dynamics, presented in Section 3, can be extended for the systems with non-zero and even non-conserved linear and angular momentum. 51,65 However, in such case, Eqs. (18) and (19) will not be valid and the full 12 + 2n dimensional state vector must be used for construction of the tree.…”

Section: Analysis Of the Trajectory Planning Methodsmentioning

confidence: 99%

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Point-to-Point Motion Planning of a Free-Floating Space Manipulator Using the Rapidly-Exploring Random Trees (RRT) Method

Rybus

2019

Robotica

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SUMMARYIt is usually proposed to use a robotic manipulator for performing on-orbit capture of a target satellite in the planned active debris removal and on-orbit servicing missions. Control of the satellite-manipulator system is challenging because motion of the manipulator influences position and orientation of the chaser satellite. Moreover, the trajectory selected for the capture manoeuvre must be collision-free. In this article, we consider the case of a nonredundant manipulator mounted on a free-floating satellite.We propose to use the bi-directional rapidly-exploring random trees (RRT) algorithm to achieve two purposes: to plan a collision-free manipulator trajectory that, at the same time, will result in a desired change of the chaser satellite orientation. Several improvements are introduced in comparison to the previous applications of the RRT method for manipulator mounted on a free-floating satellite. Feasibility of the proposed approach is demonstrated in numerical simulations performed for the planar case in which the chaser satellite is equipped with a 2-DoF (Degree of Freedom) manipulator. The obtained results are analysed and compared with the results obtained from collision-free trajectory planning methods that do not allow to set the desired final orientation of the chaser satellite.

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Section: Discussionmentioning

confidence: 98%

Section: Analysis Of the Trajectory Planning Methodsmentioning

confidence: 99%

Point-to-Point Motion Planning of a Free-Floating Space Manipulator Using the Rapidly-Exploring Random Trees (RRT) Method

Rybus

2019

Robotica

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“…Middle group (3,4,5) End group (6,7) By analyzing the configuration of the SSRMS-type manipulators, it can be found that there are three adjacent parallel joints (joints 3, 4, and 5). If all these three adjacent parallel joints are not locked in the new 6-DOF manipulator, there exist analytical solutions.…”

Section: Axis Direction ω I Position R Imentioning

confidence: 99%

“…Space manipulators, such as the space station remote manipulator system (SSRMS) and the special purpose dexterous manipulator (SPDM), have played vital roles in on-orbit servicing (OOS) missions [1,2] such as assembly, capture [3,4], refueling, repair [5], and debris removal [6,7]. Compared with nonredundant space manipulators, 7-degree-of-freedom (DOF) space manipulators have advantages in obstacle avoidance, joint limit avoidance, operability enhancement [8], joint torque optimization, singularity avoidance, and joint failure [9,10].…”

Section: Introductionmentioning

confidence: 99%

A Novel Analytical Inverse Kinematics Method for SSRMS-Type Space Manipulators Based on the POE Formula and the Paden-Kahan Subproblem

Yecong

Ding

Tang

et al. 2021

International Journal of Aerospace Engineering

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Space manipulators which have a similar symmetrical structure with seven revolute joints, such as the space station remote manipulator system (SSRMS), can be called SSRMS-type space manipulators. The analytical inverse kinematics of an SSRMS-type manipulator can be solved by locking a single joint; the locked joint (joint 1, 2, 6, or 7) can be determined by configuration analysis. Although widely used in establishing the kinematics of SSRMS-type manipulators, the Denavit-Hartenberg (DH) method has a singular problem when two adjacent joint axes are nearly parallel. To avoid this problem, this paper proposes a novel analytical inverse kinematics method for SSRMS-type manipulators based on the product of exponentials (POE) formula and the Paden-Kahan subproblem. Because of the symmetrical structure, an SSRMS-type manipulator degrades to two kinds of 6-degree-of-freedom (DOF) manipulators when locking a single joint (joint 1, 2, 6, or 7). The analytical inverse kinematics of these two kinds of 6-DOF manipulators is solved by combining the Paden-Kahan subproblems and geometric and algebraic methods, respectively. The proposed approach is not only singularity free compared with the traditional DH-based methods but also more accurate than the POE-based numerical solution. The simulation results verify the efficiency of the proposed approach.

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“…Their main advantages include less friction, high accuracy, and a long lifetime. The applications of gas bearings [4][5][6][7][8][9] have been extended from traditional gyroscopes and accelerometers to spacecraft simulators, industrial measurement, medical equipment, and microturbines. In the early stage of gas lubrication development, research focused on the measurements of a micron-scale gas film.…”

Section: Introductionmentioning

confidence: 99%

The Air Lubrication Behavior of a Kingsbury Thrust Bearing Demonstration

Yang

2021

International Journal of Rotating Machinery

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In order to understand the air lubrication behavior of Kingsbury thrust bearing demonstration, an experimental and theoretical investigation on a simulated Kingsbury thrust bearing was presented. The motions of the thrust disk and tilting pads were measured by eddy current sensors for three mass load cases. A simplified theoretical model governing the motion of the thrust disk was established. The bearing successfully passed the examination of lamp extinction and maintained the maximum rotation time of 16 s. The effective hydrodynamic film with a thickness of about 5 μm was concentrated on the middle region of the working surface under a flatness of 0.010 mm. The adverse effect of the three surface bumps was minimized by the swing motion of tilting pads. Moreover, about 1/3 air film thickness was shown to be wasted due to the surface irregularity. However, the requirements of surface quality and misalignment were appropriately relaxed through the design of the centrally pivoted tilting pads. This design is conducive to thin-film lubrication and is a potential application for microturbines.

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Application of a planar air-bearing microgravity simulator for demonstration of operations required for an orbital capture with a manipulator

Cited by 36 publications

References 18 publications

Point-to-Point Motion Planning of a Free-Floating Space Manipulator Using the Rapidly-Exploring Random Trees (RRT) Method

Point-to-Point Motion Planning of a Free-Floating Space Manipulator Using the Rapidly-Exploring Random Trees (RRT) Method

A Novel Analytical Inverse Kinematics Method for SSRMS-Type Space Manipulators Based on the POE Formula and the Paden-Kahan Subproblem

The Air Lubrication Behavior of a Kingsbury Thrust Bearing Demonstration

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