Analysis Of Kinematics And Dynamics About Dual Arm And Flexible Manipulator Space Robot

Great development of space robot lead to more and more use of it.For example,the assembling,repairing and examining of huge space station,which not only reduce the dangerousness of airmen,but also increase the span of work time.But,special environment make great difference in kinematics,dynamics and control with ground robot.It is one of the important task to research them.The kinematics of dual arm space robot are introduced in the second chapter .Beacause of special configuration and characterristic ,their Jacobi equations is much more complex than single arm space robot.Analysis of dynamics about flexible manipulator is a difficulty in the research of space robot. Several different dynamics equations are discussed and concluded from the third chapter to the fifth chapter. Author analysed different model of space flexible manipulator in inertia space and joint space .By compare the difference between them ,we find each excellence and lack.This can supply reason in the control of space robot.The kinematics of flexible manipulators are introduced in the sixth chapter .Due to the flexibility ,the equation of it include the flexible variable .This is the fundermental difference between rigid manipulators and flexible manipulators.