Dynamic analysis of a hyper-redundant space manipulator with a complex rope network

Ma, Shaoping; Liang, Bin

doi:10.1016/j.ast.2020.105768

Cited by 37 publications

(8 citation statements)

References 29 publications

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“…Tsinghua University designed a spatial redundancy manipulator composed of five segments, with six segments in each segment. The angle of each segment was basically the same through the connecting rope [27]. Researchers at the Beihang University have designed a snake-arm robot.…”

Section: Summary Of Related Research Workmentioning

confidence: 99%

A Review on the Environment Perception and Control Technologies for the Hyperredundant Manipulators in Limited Space

Liu

Zhang

et al. 2022

Journal of Sensors

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As a typical kind of special robot with high flexibility and maneuverability, the hyperredundant manipulators (HRM) which can work in the narrow and complex space arose much related research work. Due to the particularity of the environment and the structural complexity of the manipulators, there are many problems for the HRM in specific applications. This paper summarizes some representative research works for HRM, including the mechanical design, environment perception, robotic navigation, and trajectory control. In order to make the design of the HRM systems more suitable for applications, the technical problems of current research are analyzed to address the key issues for the improvement. Finally, the prospect of spatial reachability, structural compactness, operation accuracy, and interaction friendliness of hyperredundant manipulators are presented.

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Section: Summary Of Related Research Workmentioning

confidence: 99%

A Review on the Environment Perception and Control Technologies for the Hyperredundant Manipulators in Limited Space

Liu

Zhang

et al. 2022

Journal of Sensors

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“…Xu et al [21] took the fully actuated CCM as the research object and established the dynamic equation considering the cable tension, friction force, and interaction force between adjacent links by the Newton-Euler iteration method. Ma et al [22] established the dynamic model of the manipulator based on the work of [14] and divided the model into two parts: the links' model and the cable network model. The multi-body dynamics of the links was established by the recursive method, and the driving cables were modeled as serial linear springs, while the linkage cables were modeled as individual linear torsion springs to reduce the difficulty of modeling.…”

Section: Introductionmentioning

confidence: 99%

Stiffness Modeling and Dynamics Co-Modeling for Space Cable-Driven Linkage Continuous Manipulators

et al. 2023

Mathematics

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The space cable-driven continuous manipulator (SCCM) has a slender structure, ultra-high degrees of freedom, and a low mass, which make it suitable for equipment inspection and maintenance operations in an unstructured and limited space environment. In this paper, the SCCM including the cable network and plenty of joint links was deeply modeled. Firstly, the mapping relationship between the cable-driving space, joint space, and task space of the SCCM was studied, and the complete kinematic relationship of the SCCM was established. Secondly, the stiffness components of the SCCM are discussed, and the stiffness modeling method of each part is given. Finally, the Cartesian space equivalent stiffness model of the end was established. Then, a dynamic co-modeling method of Matlab + Adams is proposed, which greatly improved the modeling efficiency while ensuring the modeling accuracy. Finally, based on the stiffness model, the end stiffness characteristics of a specific configuration were analyzed, and the influence of the cable tension on the stiffness and frequency of the manipulator was analyzed. Based on the dynamic co-modeling, the task trajectory dynamics’ simulation analysis and space slit crossing experiment were carried out, which verified that the designed SCCM can meet the needs of slit crossing.

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“…Space robots can perform tasks at a lower cost, with less risk, and with superior performance than humans. 1,2 Manipulation of a free-flying object by a space robot is particularly appealing, but it is also difficult to control its dynamics. A space manipulator differs from a ground robot in that it does not have a fixed base, whereas a ground robot does.…”

Section: Introductionmentioning

confidence: 99%

Optimum joint and trajectory tracking control of multi-axes space manipulator based on amnesia feedback controller

Shrivastava

Dalla

Abhishek

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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The space manipulators operate in an unstructured or unknown environment, increasing the dynamic complexity of space manipulator. Due to disturbance in manipulator base, the trajectory tracking control issue arises that cause error between reference and actual trajectory. Hence, to sort out these issues, this work presents optimum joint and trajectory tracking control of multi-axes space manipulator based on amnesia feedback controller. Firstly, the dynamic model of a 7DOF space manipulator built on Euler-Lagrange theorem, using the Jacobian matrix of individual link is designed. Later on, the Amnesia controller strategy is implemented that keeps a record of the trajectory tracking error and sends them to the robot tip. Compared to PID control scheme, the rising time, settling time, and overshoot is reduced even further when amnesia controller is used. The trajectory deviation using PID controller is 15°, while it is 3° using Amnesia controller, as expected. Hence, Amnesia controller reduces the trajectory tracking error between reference and actual trajectory of the redundant robot. The effectiveness of the proposed methodology employing a redundant 7DOF space robot has been verified. This proposed scheme can be utilized for on-orbit servicing and space debris removal through space craft.

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Dynamic analysis of a hyper-redundant space manipulator with a complex rope network

Cited by 37 publications

References 29 publications

A Review on the Environment Perception and Control Technologies for the Hyperredundant Manipulators in Limited Space

A Review on the Environment Perception and Control Technologies for the Hyperredundant Manipulators in Limited Space

Stiffness Modeling and Dynamics Co-Modeling for Space Cable-Driven Linkage Continuous Manipulators

Optimum joint and trajectory tracking control of multi-axes space manipulator based on amnesia feedback controller

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