The Influence of the Gear Reduction Ratio on the Free-floating Space Manipulator’s Dynamics

Mateusz Wojtunik, Karol Seweryn

2021

Abstract

Utilisation of space manipulator mounted on the satellite is one the main methods for the proposed Active Debris Removal and On-Orbit Servicing missions. Precise numerical models of the manipulator’s joint are very important as its dynamics has a strong effect on the behaviour of the system including the base where it is mounted. One of aspects that can be considered is the extension of manipulator’s dynamical equations with gear kinematic constraints. To achieve this goal, dynamical equations of motion for planar 3DoF free-floating manipulator with gear kinematic constraints are presented in this paper. Open-loop analysis is performed to form conclusions concerning the influence of the gear reduction ratio on space manipulator’s dynamics. Torques required to perform end-effector straight line trajectory are evaluated using inverse dynamics path planning algorithm and then utilised as motor driving torques for different gear reduction ratios. It appears that the gear reduction ratio influences the system mass matrix nonlinearly causing the end-effector trajectory to deviate from the straight line. These deviations are already observed for relatively low gear reduction ratios.

Paper Citation

in Harvard Style

Wojtunik M. and Seweryn K. (2021). The Influence of the Gear Reduction Ratio on the Free-floating Space Manipulator’s Dynamics. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 282-289. DOI: 10.5220/0010556502820289

in Bibtex Style

@conference{icinco21,
author={Mateusz Wojtunik and Karol Seweryn},
title={The Influence of the Gear Reduction Ratio on the Free-floating Space Manipulator’s Dynamics},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={282-289},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010556502820289},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - The Influence of the Gear Reduction Ratio on the Free-floating Space Manipulator’s Dynamics
SN - 978-989-758-522-7
AU - Wojtunik M.
AU - Seweryn K.
PY - 2021
SP - 282
EP - 289
DO - 10.5220/0010556502820289