Non-Linear Dynamic Modelling of Composite Systems of Multiple Flexible Robotic Manipulators
- Paper number
IAC-06-C2.3.07
- Author
Prof. Pavel M. Trivailo, RMIT University, Australia, Australia
- Year
2006
- Abstract
Modern space robotic systems are characterized with large dimensions, resulting in their high flexibility. Increased requirements for complex missions may require the use of several of these highly flexible systems to perform complex tasks, including cooperative transportation of payloads and release of spacecraft. Understanding the influence of flexibility of the robotic arm components in the composite systems is required for preventing large oscillations during the transient maneuvers, avoiding undesirable collision of the payload with the surrounding environment and reducing the overstress of the elastic arm members, and but also be extremely useful in utilizing the flexibility of the robotic arm elements for executing complex operations, like releases of the spacecraft and providing it with the required spin. This paper considers modeling of the robotic systems with highly flexible robotic arms. The method is based on the co-rotation finite element method, enabling to deal with elastic non-linear systems, undertaking large rotations and translations. The feature of the current work is in applying a method to a composite system of multiple robotic manipulators. A set of various operational scenarios is considered, involving kinematic excitation of the system via the base motion, collective transfer of the payload and spinning release of the payloads. For the visualization of the results of simulations, the Virtual Reality environment is used. It enables demonstration of the features of the resulting complex motion of the systems in a 3D environment and provides enormous insight into the nature of the complex phenomena involved.
- Abstract document
- Manuscript document
IAC-06-C2.3.07.pdf (🔒 authorized access only).
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