Dynamic responses of a 2R manipulator in zero-gravity state excited by ender impacts and base motions

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	Dynamic responses of a 2R manipulator in zero-gravity state excited by ender impacts and base motions
	Han QP(韩清鹏); Zhang H(张昊); Liu JG(刘金国); Han QK(韩清凯)
刊名	JOURNAL OF VIBROENGINEERING
	2013
卷号	15 期号:4 页码:1665-1679
关键词	2R manipulator in zero-gravity state impact base excitation dynamic responses
ISSN号	1392-8716
通讯作者	韩清凯
产权排序	3
中文摘要	In this paper dynamic responses of a 2R manipulator which operates in zero-gravity state of out-space station are studied, specially considering both the impacts which are applied on its link ender and the base motion excitation. The ender impact and joint impact refer to the forces induced by capturing free-flying target or sudden locked of joint respectively, whereas the base motion excitation of the manipulator refers to the motion of its attached spacecraft. Firstly the governing equations of the 2R manipulator subjected to above two categories of excitations are established. The joint frictions are also included and expressed by Stribeck friction model together with flexible stiffnesses of joints. Numerical simulations of the dynamic model of the system under different cases of impact and base motion excitations show that the dynamic behaviors of the ender of the manipulator are differently described by both transient trajectories in time-domain and amplitude-frequency spectra in frequency domain.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Engineering, Biomedical ; Engineering, Mechanical
研究领域[WOS]	Engineering
关键词[WOS]	FREE-FLOATING ROBOT ; DIRECT-DRIVE ROBOT ; FRICTION COMPENSATION
收录类别	SCI ; EI
资助信息	State Key Laboratory of Robotics of Chinese Academy of Sciences [2012-O04]
语种	英语
WOS记录号	WOS:000330136300005
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/14656]
专题	沈阳自动化研究所_空间自动化技术研究室
推荐引用方式 GB/T 7714	Han QP,Zhang H,Liu JG,et al. Dynamic responses of a 2R manipulator in zero-gravity state excited by ender impacts and base motions[J]. JOURNAL OF VIBROENGINEERING,2013,15(4):1665-1679.
APA	Han QP,Zhang H,Liu JG,&Han QK.(2013).Dynamic responses of a 2R manipulator in zero-gravity state excited by ender impacts and base motions.JOURNAL OF VIBROENGINEERING,15(4),1665-1679.
MLA	Han QP,et al."Dynamic responses of a 2R manipulator in zero-gravity state excited by ender impacts and base motions".JOURNAL OF VIBROENGINEERING 15.4(2013):1665-1679.