Attitude Dynamics of a Liquid—filled Spacecraft with a manipulator

摘要

This paper studies the influence of manipulators motion on spacecraft's attitutde,discusses how to regulate liquid-filled spacecraft's attitutde using manipulators and how to coordinate relations between the operation of manipulators and attitude stbility of spacecraft.The results show that the factors offecting the attitude of liquid-filled spacecraft are not only path of manipulator's motion,but also time and law of manipulator's motion,and viscosity,mass,inertial tensor of liquied in the spacecraft.Among these factors,influence of time of manipulator's motion is remarkable.The slower the movement of manipulators the stronger its influence on the attitude of spacecraft.Selecting law of joint angles and operation time of manipulators may perform the coordinate manipulators operation and attitude stability of spacecraft.