For realizing omni-directional movement and operating task of spherical space robot system, this paper describes an innovated prototype and analyzes dynamic characteristics of a spherical rolling robot with telescopic manipulator. Based on the Newton-Euler equations, the kinematics and dynamic equations of the spherical robot's motion are instructed detailedly. Then the motion simulations of the robot in different environments are developed with ADAMS. The simulation results validate the mathematics model of the system. And the dynamic model establishes theoretical basis for the latter job.


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    Title :

    Research on modeling and motion simulation of a spherical space robot with telescopic manipulator based on virtual prototype technology


    Contributors:
    Shi, Chengkun (author) / Sun, Hanxu (author) / Jia, Qingxuan (author) / Zhao, Kailiang (author)

    Conference:

    Space Exploration Technologies II ; 2009 ; Orlando,Florida,United States


    Published in:

    Publication date :

    2009-05-01





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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