Controllable Degree Analysis of Space Manipulators with Free-Swing Joint Failure
Publication: Journal of Aerospace Engineering
Volume 37, Issue 1
Abstract
Due to the harsh space environment, burdensome tasks, and complex structure, space manipulators are vulnerable to joint failure, especially the free-swing joint failure during on-orbit operation. The unactuated units, including free-swing joint and free-floating base, lack driving source and need to be controlled by actuated joints. To determine the control input while executing the task, it is necessary to analyze the controllable degree of system input to the unactuated unit. In this paper, comprehensively considering the coupling effects of velocity and acceleration between free-floating base, fault joint, and actuated joint, the kinematic and dynamic coupling relationship of the space manipulator with free-swing joint failure is established first. Then, the controllability of the space manipulator is analyzed. Considering the factors affecting the coupling motion between the actuated joint and the unactuated unit, the controllable degree index of the actuated joint to the unactuated unit is constructed. Finally, taking a space manipulator with seven degrees of freedom as the object, the numerical simulation is carried out to analyze the influence of joint configuration, actuated joint combination, and joint velocity on the controllability of the space manipulator, so as to provide guidance for the subsequent fault-tolerant motion control of the space manipulator.
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Data Availability Statement
All data, models, and code generated or used during the study are available from the corresponding author by request.
Acknowledgments
This work is supported by the National Natural Science Foundation of China (No. 62173044, No. 51975059).
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Information & Authors
Information
Published In
Journal of Aerospace Engineering
Volume 37 • Issue 1 • January 2024
Copyright
© 2023 American Society of Civil Engineers.
History
Received: Feb 15, 2023
Accepted: Jul 12, 2023
Published online: Sep 19, 2023
Published in print: Jan 1, 2024
Discussion open until: Feb 19, 2024
ASCE Technical Topics:
- Aerospace engineering
- Analysis (by type)
- Continuum mechanics
- Coupling
- Dynamics (solid mechanics)
- Engineering fundamentals
- Engineering mechanics
- Failure analysis
- Forensic engineering
- Joints
- Kinematics
- Kinetics
- Solid mechanics
- Space colonies
- Space exploration
- Space structures
- Structural engineering
- Structural failures
- Structural members
- Structural systems
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