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题名: Damping Mechanism for Space Docking and Its Kinematics Analysis
作者: Qu YL(曲艳丽) ; Zhang CF(张崇峰) ; Zhao MY(赵明扬)
作者部门: 机器人学研究室
会议名称: 第六届亚太地区空间技术与应用多边合作会议(6thAPC-MCSTA)
会议日期: September 18-21
会议地点: Beijing, China
会议主办者: 中国国家航天局
会议录: 第六届亚太地区空间技术与应用多边合作会议(6thAPC-MCSTA)论文集
会议录出版者: 中国国家航天局
会议录出版地: Beijing
出版日期: 2001
页码: 6 pp.
关键词: Space Docking ; Differential Damping Mechanism ; Kinematics
摘要: In this paper, mathematical models are formulated, based on treating the differential damping mechanism as parallel connection of six independent serial chains and establishing local coordinate systems, for solving both the forward and inverse kinematics problem of androgynous peripheral assembly system (APAS). Example is included to demonstrate the application of the model. It is shown that the use of additional joint encoders simplifies the solution of the position kinematics problem, eliminates the coupling among branches and obtains a one-to-one relation between the actuated joint variables and the capture ring configuration.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/9211
Appears in Collections:机器人学研究室_会议论文

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