|Address||A435. Kaiwu Bldg. of Mechanical Engineering, Tongji Univ.,
No. 4800 Cao An Rd., Shanghai 201804, P. R. China
- Space Manipulator
Space Manipulator, which is generally huge and applied in special space environment, is in essence a multibody system consisting of several joints and arms. Since it works in a weightless environment, the floating foundation support is coupled compactly with the connecting rods of the mechanical arms. In order to overcome the gravity while being launched, all space arms are made of light materials and long and thin rods. Besides, electric motor with miniwatt which is cooperated with relatively huge retarder is applied so that people can save more energy. All of the factors above lead to the flexibilty that cannot be ignored. Therefore, the space manipulator is a rigid-flexible coupling and highly non-linear multibody system. The foundation and key of the research of such system is to build a accurate equation of motion. However, because of the flexibility, inproper deducing method will result in lengthy equation and mass operand. Thus it is necessary to build a proper system to describe the flexible deformation and consider both rigidity and flexibility uniformly.