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RSS FeedsEnergies, Vol. 13, Pages 1530: Generalized Modeling of Soft-capture Manipulator with Novel Soft-Contact Joints (Energies)

 
 

24 march 2020 23:00:27

 
Energies, Vol. 13, Pages 1530: Generalized Modeling of Soft-capture Manipulator with Novel Soft-Contact Joints (Energies)
 




The space-borne manipulator has been playing an important part in docking tasks. Docking collision can easily lead to instability of both the manipulator and floating base. Aiming at the problem of soft capture, a novel soft-contact joint with dual working modes is developed, especially to buffer and unload the spatial collision momentum. Furthermore, considering a series-wound soft-capture manipulator with multi-joints, a generalized modeling method was established by using the Kane approach. Both the benefits of soft-contact joint and the effectiveness of dynamics equations are verified in MATLAB and Adams software by simulations of a two-joint manipulator with eight-DOF. The comparative simulation results showed the advantages of the proposed soft-contact joint in reducing instability from spatial impact.


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20 viewsCategory: Biophysics, Biotechnology, Physics
 
Energies, Vol. 13, Pages 1529: Application of the Feedback Linearization in Maximum Power Point Tracking Control for Hydraulic Wind Turbine (Energies)
Energies, Vol. 13, Pages 1531: Circuit Structure and Control Method to Reduce Size and Harmonic Distortion of Interleaved Dual Buck Inverter (Energies)
 
 
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