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题名:
Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment
作者: Liu YW(刘玉旺); Chen, Jibiao; Liu JG(刘金国); Jing XJ(景兴建)
作者部门: 空间自动化技术研究室
通讯作者: Liu YW(刘玉旺)
关键词: Strong nonlinear interference ; Slow rotation of joints ; Kirchhoff nonlinear mechanics ; Curved surface contact
刊名: Nonlinear Dynamics
ISSN号: 0924-090X
出版日期: 2018
页码: 1-19
收录类别: EI
EI收录号: 20182405306354
产权排序: 1
项目资助者: National Natural Science Foundation of China (51605474), State Key Laboratory of Robotics Fund (2016-Z09), and Innovation Foundation for National Defense Science and Technology of ChineseAcademy of Sciences (CXJJ-17-M109)
摘要: A nonlinear model of a special cable in space robotic arms is developed in space environment. The mechanic effects of control cables in powerful robots can often be neglected. However, in complex space multi-physics environments, involving ultra-low temperature, radiation, and other extreme conditions of outer space, the externally mounted cables (protected by shielding layers) can induce strong nonlinear interference to robot arms; and this can induce further small-range slow rotations or oscillations of the flexible joint of robots at a specific posture, which consequently affect the precision and operation performance of end effectors. Effective mathematical models on nonlinear mechanics of strong cables under multi-physics environments and their effects on weak robots have not been well developed yet. Complex key factors, such as low gravity, nonlinear friction, and unexpected curved surface constraints, have not been extensively investigated either. In this study, considering all these key factors, a Kirchhoff nonlinear mechanical model of cables in complex space environments is developed, and a relatively improved algorithm based on a trust-region strategy is proposed for solving this nonlinear model, based on which the geometry and terminal force of the modeled robot cable can be obtained. The validity and accuracy of the proposed algorithm and theoretical calculation results are verified via experiments. The theoretical findings revealed in this study are significant to future research on the slow rotations and oscillations of weak robot joints in space exploration with robotic arms.
语种: 英语
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/22076
Appears in Collections:空间自动化技术研究室_期刊论文

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作者单位: 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Department of Mechanical Engineering and Automation, Northeastern University, Shenyang, China
3.Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong, China

Recommended Citation:
Liu YW,Chen, Jibiao,Liu JG,et al. Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment[J]. Nonlinear Dynamics,2018:1-19.
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