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Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment
Liu YW(刘玉旺)1; Chen, Jibiao1,2; Liu JG(刘金国)1; Jing XJ(景兴建)3
作者部门空间自动化技术研究室
关键词Strong Nonlinear Interference Slow Rotation Of Joints Kirchhoff Nonlinear Mechanics Curved Surface Contact
发表期刊Nonlinear Dynamics
ISSN0924-090X
2018
卷号94期号:1页码:649-667
收录类别SCI ; EI
EI收录号20182405306354
WOS记录号WOS:000445375700041
产权排序1
资助机构National Natural Science Foundation of China ; State Key Laboratory of Robotics Fund ; Innovation Foundation for National Defense Science and Technology of Chinese Academy of Sciences
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
WOS类目Engineering, Mechanical ; Mechanics
关键词[WOS]KIRCHHOFF ELASTIC ROD ; SUSPENDED ROBOT ; DYNAMICS ; SIMULATION ; MODEL ; EQUILIBRIUM ; ROBUST
WOS研究方向Engineering ; Mechanics
资助项目National Natural Science Foundation of China[51605474] ; State Key Laboratory of Robotics Fund[2016-Z09] ; Innovation Foundation for National Defense Science and Technology of Chinese Academy of Sciences[CXJJ-17-M109]
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/22097
专题空间自动化技术研究室
通讯作者Liu YW(刘玉旺)
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
推荐引用方式
GB/T 7714
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,2018,94(1):649-667.
APA Liu YW,Chen, Jibiao,Liu JG,&Jing XJ.(2018).Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment.Nonlinear Dynamics,94(1),649-667.
MLA Liu YW,et al."Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment".Nonlinear Dynamics 94.1(2018):649-667.
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