Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint Failure

摘要

For the free-floating space manipulator with free-swinging joint failure, motions among its active joints, passive joints, free-floating base, and end-effector are coupled. It is significant to make clear all motion coupling relationships, which are defined as "kinematic coupling relationships" and "dynamic coupling relationships," inside the system. With the help of conservation of system momentum, the kinematic model is established, and velocity mapping relation between active joints and passive joints, velocity mapping relation between active joints and base, velocity mapping relation between active joints and end-effector. We establish the dynamic model based on the Lagrange equation, and the system inertia matrix is partitioned according to the distribution of active joints, passive joints, and the base. Then, kinematic and dynamic coupling relationships are explicitly derived, and coupling indexes are defined to depict coupling degree. Motions of a space manipulator with free-swinging joint failure simultaneously satisfy the first-order nonholonomic constraint (kinematic coupling relationships) and the second-order nonholonomic constraint (dynamic coupling relationships), and the manipulator can perform tasks through motion planning and control. Finally, simulation experiments are carried out to verify the existence and correctness of the first-order and second-order nonholonomic constraints and display task execution effects of the space manipulator. This research analyzes the kinematic and dynamic characteristics of the free-floating space manipulator with free-swinging joint failure for the first time. It is the theoretical basis of free-swinging joint failure treatment for a space manipulator.