Research On Modeling And Parameter Identification Of Flexible Space Manipulator

With the development of aerospace technology and space exploration of humanbeings, space station construction will become a focus in the future development ofspace technology. Space manipulator will become the main tool of space explorationand construction. Because most of the space manipulator is composed of a lesserquality materials, and the arm is longer, the influence of flexible often cannot beignored. when space manipulator perform the task through to the unknown load, dueto the flexible, manipulator arm load is different or the change of configuration willcause its dynamic parameters changing, that will make the dynamic model uncertain. Ifthere is no effective way to solve the uncertainty of model, will affect the controlprecision of the space manipulator, and even cause serious consequences. This thesiswill deal with the flexible dynamics modeling and parameter identification of flexiblespace manipulator. The main contents are as follows:Using ANSYS software to analyzes the modal of flexible manipulator underdifferent load and different arm form, so we got the relationships between the naturalfrequencies and manipulator configuration, and manipulated load. Create two arm rigidrobot model and two arm flexible robot model in the ADAMS environment. UsingADAMS to analysis the dynamic response, in order to make the standard to check themathematical modeling is right or not.Using Lagrange method to set up modes about two rigid arm robot and twoflexible arm robot. Use assumed mode method to describe the deformation of flexiblearm, when modeling the flexible robot. Use matlab software to simulate themathematical model, and comparative analysis the dynamic response with ADAMSmodel, to ensure the validity of the modeling.Using least square method to online identification the mode parameters of flexiblespace manipulator, and compares the tip trajectory about the flexible manipulator withidentification before and after identification when planning tasks at the end track.The flexible dynamics modeling, modal analysis and parameter identification arestudied in this thesis. The research results have the important theory and applicationvalues for the space manipulator application.