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

Abstract This paper studies the dynamics of a space manipulator. The space manipulator is designed for precise on-orbit servicing missions in a highly constrained environment. The concerned manipulator has hyper-redundant degrees of freedom and moves with a piecewise constant curvature, which enhances the flexibility and controllability. Such manipulator consists of a large number of links and a complex rope network. When the manipulator is driven, the interacting forces between the links and ropes introduce complexity into the dynamic behavior. In terms of dynamic modeling, the manipulator is a very complex system. This paper proposes a dynamic model of the manipulator based on methods of multibody dynamics. The ropes are assumed to be massless and linear elastic. The equations of motion are derived using space operator algebra. The vibration of the manipulator is investigated. The governing equations of the vibration are derived by applying the perturbation method to the proposed dynamic model. The values of the natural frequencies are investigated for the elasticities of the ropes. The proposed dynamic model is also applied in numerical simulation. The explicit fourth-order Runge-Kutta method is utilized to solve the equations of motion numerically. In numerical simulation, an upper bound of the time step is encountered. The value of upper bound is found to be related to the elasticities of the ropes. Such phenomena are studied by analyzing the stability region of the Runge-Kutta methods. Besides, the computational efficiency of the numerical simulation is also limited by the value of upper bound. Two modifications of the dynamic model are introduced to relax the upper bound of the time step. The effects of the modifications are demonstrated by numerical results.

[1]  Quan Hu,et al.  Dynamic modelling and control of a Tendon-Actuated Lightweight Space Manipulator , 2019 .

[2]  Hao Wang,et al.  Study on Vibration Analyze and Control of Continuum Robot , 2018, 2018 2nd IEEE Advanced Information Management,Communicates,Electronic and Automation Control Conference (IMCEC).

[3]  Kazuya Yoshida,et al.  Engineering Test Satellite VII Flight Experiments for Space Robot Dynamics and Control: Theories on Laboratory Test Beds Ten Years Ago, Now in Orbit , 2003, Int. J. Robotics Res..

[4]  Jennifer Kingston,et al.  Assessment of the commercial viability of selected options for on-orbit servicing (OOS) , 2015 .

[5]  Quan Hu,et al.  Recursive Dynamics Algorithm for Multibody Systems with Variable-Speed Control Moment Gyroscopes , 2013 .

[6]  Yangsheng Xu,et al.  Mapping a Space Manipulator to a Dynamically Equivalent Manipulator , 1998 .

[7]  Saeed Rafee Nekoo,et al.  Model reference adaptive state-dependent Riccati equation control of nonlinear uncertain systems: Regulation and tracking of free-floating space manipulators , 2019, Aerospace Science and Technology.

[8]  Lingling Shi,et al.  Post-impact Motion Control of a Space Robot with Flexible Manipulator , 2018, 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV).

[9]  Werner Schiehlen,et al.  Research trends in multibody system dynamics , 2007 .

[10]  Chao Wang,et al.  Three-Dimensional Dynamics for Cable-Driven Soft Manipulator , 2017, IEEE/ASME Transactions on Mechatronics.

[11]  Arun K. Banerjee,et al.  Contributions of Multibody Dynamics to Space Flight: A Brief Review , 2003 .

[12]  Gen Endo,et al.  Bundled Wire Drive: Proposal and Feasibility Study of a Novel Tendon-Driven Mechanism Using Synthetic Fiber Ropes , 2019, IEEE Robotics and Automation Letters.

[13]  Abhinandan Jain.  Recursive Algorithms Using Local Constraint Embedding for Multibody System Dynamics , 2009 .

[14]  Zhang Jun,et al.  Recursive decentralized control for robotic manipulators , 2018 .

[15]  Francesco Braghin,et al.  Dynamic analysis of high precision construction cable-driven parallel robots , 2019 .

[16]  Robert B. Friend,et al.  Orbital Express program summary and mission overview , 2008, SPIE Defense + Commercial Sensing.

[17]  Linda R. Petzold,et al.  Numerical solution of initial-value problems in differential-algebraic equations , 1996, Classics in applied mathematics.

[18]  Daniel E. Hastings,et al.  Flexibility and the value of on-orbit servicing: New customer-centric perspective , 2003 .

[19]  Noriyasu Inaba,et al.  Autonomous satellite capture by a space robot: world first on-orbit experiment on a Japanese robot satellite ETS-VII , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[20]  Congqing Wang,et al.  Chaotic Vibration Prediction of a Free-Floating Flexible Redundant Space Manipulator , 2016 .

[21]  Z. Vafa,et al.  On the Dynamics of Space Manipulators Using the Virtual Manipulator, with Applications to Path Planning , 1993 .

[22]  Sunil K. Agrawal,et al.  Dynamic Modeling of Cable-Driven Parallel Manipulators With Distributed Mass Flexible Cables , 2015 .

[23]  Han Yuan,et al.  Static and dynamic stiffness analyses of cable-driven parallel robots with non-negligible cable mass and elasticity , 2015 .

[24]  Abhinandan Jain.  Robot and Multibody Dynamics: Analysis and Algorithms , 2010 .

[25]  Jian S. Dai,et al.  Workspace Analysis of Tendon-Driven Continuum Robots Based on Mechanical Interference Identification , 2017 .

[26]  Hao Liu,et al.  Mechanical Model of Dexterous Continuum Manipulators With Compliant Joints and Tendon/External Force Interactions , 2017, IEEE/ASME Transactions on Mechatronics.

[27]  Farrokh Janabi-Sharifi,et al.  Unscented Kalman filter state estimation for manipulating unmanned aerial vehicles , 2019, Aerospace Science and Technology.

[28]  Metin Ozkan,et al.  Adaptive control of free-floating space manipulators using dynamically equivalent manipulator model , 2004, Robotics Auton. Syst..

[29]  R. Boumans,et al.  The European Robotic Arm for the International Space Station , 1998, Robotics Auton. Syst..

[30]  Steven Dubowsky,et al.  The Kinematics and Dynamics of Space Manipulators: The Virtual Manipulator Approach , 1990, Int. J. Robotics Res..

[31]  Ou Ma,et al.  A review of space robotics technologies for on-orbit servicing , 2014 .

[32]  Yizhai Zhang,et al.  Dynamics Analysis and Controller Design for Maneuverable Tethered Space Net Robot , 2017 .

[33]  Shuzhi Sam Ge,et al.  Dynamic modelling and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances , 2018, Int. J. Control.

[34]  Giovanni B. Palmerini,et al.  Vibration control of a flexible space manipulator during on orbit operations , 2012 .

[35]  Hiroaki Tanaka,et al.  Effects of vibration characteristics on improvement of deployment repeatability by vibration , 2019, Aerospace Science and Technology.

[36]  Panfeng Huang,et al.  Dynamic modelling and coordinated controller designing for the manoeuvrable tether-net space robot system , 2016 .

[37]  Fei Liu,et al.  A modified constraint force algorithm for flexible multibody dynamics with loop constraints , 2017 .

[38]  E. Grossman,et al.  Space environment effects on polymers in low earth orbit , 2003 .

[39]  Shijie Xu,et al.  A new computer-oriented approach with efficient variables for multibody dynamics with motion constraints , 2012 .