The problem of dynamic and kinematic control of the spatial movements of a flexible multi-link manipulator, mounted on a platform freely moving in cosmic space, is defined. Allowance for distributed properties of elasticity and inertia of the manipulator links is made, based upon the design model of the Euler-Bernoulli beam on the assumption that each element is in compound motion. A technique for the numerical construction of solutions for an essentially non-linear hybrid-type system of constituent equations is proposed. Examples of computer simulation of the dynamics of a two-link cosmic robot, manipulating a useful body, are considered. Comparisons are made between the results of calculations and data on the dynamic behaviour of a rigid cosmic manipulator with equivalent geometrical and inertial parameters.
Dynamics of a flexible multi-link cosmic robot-manipulator
Journal of Sound and Vibration ; 243 , 4 ; 641-657
2001
17 Seiten, 5 Bilder, 16 Quellen
Article (Journal)
English
DYNAMICS OF A FLEXIBLE MULTI-LINK COSMIC ROBOT-MANIPULATOR
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