A Dimension Reduced Ground Test Method of Dual-arm Space Robot for On-orbit Assembly

Du, Baosen; Liu, Jiayu; Yang, Zelin; Li, Han; Deng, Tao

doi:10.1109/icma.2018.8484360

Cited by 2 publications

(2 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In the follow-up research, Rekleitis et al proposed an optimal trajectory planning method for robotic assembly tasks, and this method can reduce excessive fuel consumption of free-flying space robots [88]. Du and Liu proposed the dynamic characteristics of the free-floating space dual-arm robot, and the ground microgravity test method based on air bearing verified the correctness of the model and provided experimental conditions for the robot's on-orbit assembly [89]. The ground-based simulation verification experiments have laid the foundation for the on-orbit assembly of space robots.…”

Section: Space Robot Assembly Methodsmentioning

confidence: 99%

A Survey of Space Robotic Technologies for On-Orbit Assembly

Zhong

Zhu

et al. 2022

Space Sci Technol

View full text Add to dashboard Cite

The construction of large structures is one of the main development trends of the space exploration in the future, such as large space stations, large space solar power stations, and large space telescopes. It is one of important development tendency, which aims to make full use of space robots to assemble space structures autonomously in the aerospace industry. Considering that on-orbit assembly is an effective method to solve the problem of construction of large-scale spatial structures, it is necessary to motivate and facilitate the research of space robotics technologies for on-orbit assembly. Therefore, in this paper, the development status of space robot technology and the relevant space robot on-orbit assembly technology in recent decades are summarized. First, based on the space robot motion planning and assembly sequence planning, the development of space robot planning algorithms is introduced. For space robot assembly task, the space robot assembly method is summarized. From the control point of view, how to solve the vibration suppression and compliant assembly of on-orbit assembly is reviewed, which provides a reference for the autonomous intelligent assembly of space robots for large-scale structures in space. In order to simulate the space assembly scene on the ground, this paper introduces the development of ground verification experiments and provides ideas for the effective verification of space on-orbit assembly technology. In summary, though some of these problems have been satisfactorily solved in the past research, further research is still necessary in the future. Finally, it looks forward to the future research direction of space machine on-orbit assembly.

show abstract

Section: Space Robot Assembly Methodsmentioning

confidence: 99%

A Survey of Space Robotic Technologies for On-Orbit Assembly

Zhong

Zhu

et al. 2022

Space Sci Technol

View full text Add to dashboard Cite

show abstract

“…With this method, first, a series of planar motions are tested, and then the composition of the planar motions is treated as a spatial one. Therefore, dimension reduced dynamics equivalent models in a plane are often used in the air bearing test facilities (Du et al, 2018 ). A typical 7-DoF manipulator is illustrated in Figure 1A for air bearing ground test.…”

Section: Methodsmentioning

confidence: 99%

Estimation of Vibration Characteristics of a Space Manipulator From Air Bearing Supported Test Data

Wei

Liang

et al. 2021

Front. Robot. AI

View full text Add to dashboard Cite

Space manipulators have attracted much attention due to their implications in on-orbit servicing in recent years. Air bearing based support equipment is widely used for ground test to offset the effect of gravity. However, an air bearing support introduces a new problem caused by additional inertial and mass properties. Additional mass and inertial load will influence the dynamics behavior, especially stiffness information and vibration response of the whole ground test system. In this paper, a set of procedures are presented to remove the influence of air bearings and identify the true equivalent joint stiffness and damping from the test data of a motor-braked space manipulator with an air bearing support. First, inertia parameters are identified. Then, the equivalent joint stiffness and damping are determined by using a genetic algorithm (GA) method. Finally, true vibration characteristics of the manipulator are estimated by removing the additional inertia caused by the air bearings. Moreover, simulations and experiments are carried out to validate the presented procedures.

show abstract

A Dimension Reduced Ground Test Method of Dual-arm Space Robot for On-orbit Assembly

Cited by 2 publications

References 7 publications

A Survey of Space Robotic Technologies for On-Orbit Assembly

A Survey of Space Robotic Technologies for On-Orbit Assembly

Estimation of Vibration Characteristics of a Space Manipulator From Air Bearing Supported Test Data

Contact Info

Product

Resources

About