Nonlinear model of space manipulator joint considering time-variant stiffness and backlash

Abstract Modeling of space manipulator joints has been studied for years but accurate positioning control is still unsatisfactory. One of the primary reasons is that, in the past researches, effects of the high-ratio reducers in the joints have usually been neglected. In this paper, a nonlinear dynamic model of the manipulator joint with planetary gear train transmission is developed by considering time-variant joint stiffness, backlash and reduction ratio. Based on the gear parameters and meshing phase relationship, the stiffness of the joint model is presented, in which the time-variant stiffness of 2K-H planetary gear train and the backlash are taken into consideration. The backlash effect is modeled as an alternate engagement mechanism, and the transmitted torque is defined as a dead zone function. This model is simulated on a two-link space manipulator system. The results show that the time-variant stiffness effect can be simplified as a constant value in most cases when other shafting parts are flexible, while if the total stiffness is approximate to the nonlinear stiffness, the positioning accuracy is reduced if neglecting the time-variant part. On the other hand, the backlash is the main source of positioning error and impact. Minimizing backlash is the most effective way to improve positioning accuracy and avoid the impact in the gearing system.