Determination Method of Overall Technology Index for Space Manipulator
2013, 33 (1):
The determination of the overall technology index is a key to the overall design of space manipulator. An overall performance indexes determination method of a space manipulator were presented. The dynamic simulation study was also performed. Firstly, considering the mission objectives and combining with the overall constraints, the main technology indexes, including manipulator length, end-effector positing and orientating accuracies, the maximum end-effector velocities, and joint drive torques, and so on, were demonstrated. Secondly, the multi-body dynamic model of a space robotic system was created. Based on this model, the manipulation process of the space robot carrying a payload under normal and extreme conditions was simulated. Simulation results show that the proposed ideas and methods are very useful for the development of the space robot system.
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