Advanced Search
Volume 28 Issue 6
Jun.  2002
Turn off MathJax
Article Contents
Abstract
References
Journal of Beijing University of Aeronautics and Astronautics  > 2002  >  28(6): 613-616.
Song Yuwang, Xi Ping. Research and application of analysis leads design method[J]. Journal of Beijing University of Aeronautics and Astronautics, 2009, 35(8): 980-985. (in Chinese)
Citation: REN Jing-yi, SUN Han-xu. Kinematics Analysis and Simulation of Free-Floating Space Robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2002, 28(6): 613-616. (in Chinese)
shu

Kinematics Analysis and Simulation of Free-Floating Space Robot

  • 1.

    Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation

  • 2. Beijing University of Posts and Telecommunications, School of Automation

  • Received Date: 29 Mar 2001
  • Publish Date: 30 Jun 2002
    Abstract
  • The movement of the end-effector of free-floating space robot is related to not only the movement of each joint, but also the trajectory and the mass distribution of each link. This is the most distinct difference between free-floating space robot and terrestrial robot. Thus, the kinematics of free-floating space robot is closely connected with its dynamics. Screw theory and linear and angular momentum conservation were used to analyze free-floating space robot system. A general jacobian was derived, which includes the system's mass. On the above basis, a movement simulation of free-floating space robot was given.

     

    • FullText(HTML)
    • References(1)
  • [1] Vafa Z, Dubowsky S. The kinematics and dynamics of space manipulators:the virtual manipulator approach [J]. The International Journal of Robotics Research, 1990, 9(4):3~21. [2]Mukherjee R, Nakamura Y. Formulation and efficient computation of inverse dynamics of space robots [J]. IEEE Transactions on Robotics and Automation,1992, 8(3):400~406. [3]Yokokohji Y, Toyoshima T, Yoshikawa T. Efficient computational algorithms for trajectory control of free-flying space robots with multiple arms [J]. IEEE Transactions on Robotics and Automation, 1993, 9(5):571~580. [4]Murray R, Li Z, Sastry S. A mathematical introduction to robotic manipulation [M]. Boca Raton FL:CRC Press, 1994. [5]Saha S K. A unified approach to space robot kinematics [J]. IEEE Transactions on Robotics and Automation, 1996, 12(3):401~405.
    • Relative Articles

  • Relative Articles

    [1]YAN P，LI Q，HUANG X，et al. Friction and heat flux prediction of lift body under different gas models and slip boundary models[J]. Journal of Beijing University of Aeronautics and Astronautics，2025，51（4）：1277-1291 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2023.0209.
    [2]LYU Y Z，WAN H M，XU Y M. Dynamic stability analysis of a single-point hanging container[J]. Journal of Beijing University of Aeronautics and Astronautics，2025，51（2）：419-427 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2023.0036.
    [3]LIANG J Z，PAN T Y，ZHENG M Z，et al. Model design and aerodynamic characteristic analysis of variable-amplitude flapping wing aircraft[J]. Journal of Beijing University of Aeronautics and Astronautics，2025，51（5）：1735-1746 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2023.0271.
    [4]LIANG J H，ZHANG X Y，ZHAO Q J. Aerodynamic interference characteristics of a new compound configuration helicopter[J]. Journal of Beijing University of Aeronautics and Astronautics，2025，51（3）：922-932 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2023.0084.
    [5]WANG Di, LUO Jianqiao, YU Ning, MENG Junhui. Dynamic Characteristics of Rotating Disk-shaped Vehicle during Skipping Considering Configuration[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2024.0288
    [6]LIU F Y，DENG T. Influence of dynamic behavior of supercooled large droplets on airfoil icing[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（1）：173-186 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0213.
    [7]LI Z B，SUN W，ZHANG Y N，et al. Computation on aerodynamic and aeroacoustic characteristics of scissor tail-rotor under sideslip condition[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（12）：3794-3805 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2023.0037.
    [8]ZHANG Y M，JIN G H，SHI Y，et al. Hysteresis characteristics of pneumatic artificial muscle based on improved Maxwell model[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（12）：3686-3695 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0917.
    [9]TAN J F，XING X B，CUI Z，et al. Investigation on aerodynamics of a helicopter approaching an active control deck[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（7）：2206-2217 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0615.
    [10]CAO Mengda, ZHENG Mengzong, SU Guanting, PAN Tianyu, LI Zhiping, LI Qiushi. Study on the Unsteady Aerodynamic Characteristics of a Flexible Flapping Plate at Low Reynolds Numbers[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2024.0235
    [11]HU Wenhua, LIU Wenju, WU Ruiqin, CHEN Sanya, FENG Jingjing, WU Xia. Model design and aerodynamic simulation of a fold-wing aircraft[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2024.0064
    [12]SONG Ziyi, LI Yanjun, YU Li, LI Xixi. Coupling model analysis for aerodynamic performance of parafoil with maneuvers[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2024.0558
    [13]WANG Y T，LAN Q S，ZHOU Z，et al. Design and aerodynamic analysis of blended wing body with variable camber technology[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（4）：1292-1307 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2022.0493.
    [14]LYU Z Y，NIE X Y，ZHAO A B. Prediction of wing aerodynamic coefficient based on CNN[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（3）：674-680 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2021.0276.
    [15]WANG T，JIAO H C，LIU J，et al. Design of attitude control method for ultra-low-orbit satellite with pneumatic steering gear[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（3）：548-558 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2021.0265.
    [16]LIN J Z，ZHOU L，WU P，et al. Rapid prediction technology of missile aerodynamic characteristics based on PINN model[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（10）：2669-2678 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2021.0738.
    [17]YANG Xiang-gang, GAO Yong-xin, WANG Zhong-ming, LI Yi-wen, YAO Cheng. Effect of plasma excitation on aerodynamic characteristics of airfoil on Mars[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2023.0312
    [18]JIA Y，YANG Y T，WU J H. Effect of powertrain arrangement on aerodynamic characteristics of blended-wing-body aircraft[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（5）：1156-1165 （in Chinese）. doi: 10.13700/j.bh.1001-5965.2021.0370.
    [19]JIANG Yu, YANG Chao, WU Zhigang. Mechanism analysis of a new aeroservoelastic instability mode[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(7): 1314-1323. doi: 10.13700/j.bh.1001-5965.2021.0571
    [20]LIU Yanbin, WANG Xuesheng, QIN Xinya, WANG Hao, CHEN Qinzhu, ZHAO Sai. Design and characteristics of reverse direct-acting high-pressure reducing valve for pneumatic actuator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(7): 1164-1173. doi: 10.13700/j.bh.1001-5965.2021.0292
    • Supplements(0)
    • Cited By
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索
    Get Citation
    PDF
    XML

    Article Metrics

    Article views(3201) PDF downloads(1061) Cited by()
    Proportional views
    Related

    Copyright © Journal of Beijing University of Aeronautics and Astronautics

    Address: Editorial Department of Journal of Beijing University of Aeronautics and Astronautics, 37 Xueyuan Road, Haidian District, Beijing Post Code: 100191 Email: jbuaa@buaa.edu.cn

    Supported by: Beijing Renhe Information Technology Co., Ltd.    

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return