Coupled dynamics and simulation of a space-based manipulator system

摘要

In this paper, a space-based manipulator system (SBMS) is researched. Although lots of work have been done about ground-based system for a long time, there are still exists a lot of problems for space-based manipulator because of the different dynamics modeling between them. A popular and interesting issue is coupled dynamics among the system. So, a special case, a SBMS with two manipulators symmetrically installed on a floating base, is modeled as the research object during whole work. Firstly, by establishing its kinematics and dynamics model, a general equation of motion is achieved. Then, a simulation test aiming at revealing the coupled phenomenon and how does the motion of manipulators impact on the floating base is conducted. The test results provide concrete proofs for our theoretical analysis.