A Study On Dynamic Of Space Manipulator Joint Based On Virtual Prototyping Technology

Space Manipulator is an important tool used in spacecraft, whose main task isreleasing and recycling satellite and completing in-orbit construction, maintenancework and other tasks. The dynamic theory of space manipulator, however, is still notperfect.Accordingly, establishing accurate space manipulator dynamic model andstudying space Manipulator dynamics starting from the drive unit have importantsignificance. To study the dynamics of the joint space manipulator, this paper focusedon the following three aspects of work:1) Established planetary gear dynamic model that considering nonlinear factorsincluding time-varying mesh stiffness, time-varying meshing damping and backlashin ADAMS. ADAMS/Machinery module allows users to get rid of the dependenceon third-party modeling software in the planetary gear modeling, but there are stillsome deficiencies. Therefore, the improvement of ADAMS/Machinery that usingADAMS/View run function expression to express the role torque between thevarious components in the planetary gear model of ADAMS/Machinery wasproposed. Simulation results show that the dynamic model of the planetary gear canreflect the influence of nonlinear factors consisting of time-varying mesh stiffness,time-varying meshing damping and backlash.2) The impact of joint transmission parameter that including the meshingstiffness, engagement damping, backlash and other factors on space manipulator wasstudied. This paper refined planetary gear reducer and established the rigid arm-refining joint dynamic model considering the stiffness, damping, backlash and otherfactors on the basis of the rigid arm–ideal hinge joint model. The simulation resultsshowed that time-varying mesh stiffness and damping had little effect on themovement accuracy of the end of the arm, but had great attribution to the vibration noise. The value of the backlash significantly affected the movement accuracy of theend of the arm.3) This paper designed and developed space manipulator joint dynamicsmodeling software. For the tedious and repetitive nature of space manipulatordynamics modeling process operation, using the secondary development function ofADAMS to integrate the corresponding modeling operations. The software used in theactual modeling work, have greatly improved the efficiency and accuracy ofmodeling.