Reachable space analysis of the Space Manipulator with Free-Swinging Joint Failure

For the space manipulator with free-swinging joint failure, when the base is in free-floating state, the base and free- swinging joints cannot output torque, which easily leads to the failure of space on-orbit operation. To ensure the successful completion of the task, this paper first analyzes the...

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Bibliographic Details
Main Authors: Wang, Hanxiao, Chen, Gang, Fu, Yingzhuo, Xu, Wenqian
Format: Conference Proceeding
Language:English
Subjects:
Aerospace electronics
Analytical models
Couplings
Industrial electronics
joint free-swinging failure
Kinematics
Manipulators
reachable space
space manipulator
Torque
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Summary:For the space manipulator with free-swinging joint failure, when the base is in free-floating state, the base and free- swinging joints cannot output torque, which easily leads to the failure of space on-orbit operation. To ensure the successful completion of the task, this paper first analyzes the kinematic coupling relationship between the active joints, the base and the free-swinging joint; then the reachable range of the base angle and the free-swinging joint angle, and the reachable space of the end effector of the faulty manipulator is analyzed; finally, simulation experiments are carried out on the 7-DOF space manipulator with floating base and free-swinging joints, and the correctness and effectiveness of the proposed method are verified.
ISSN:2158-2297
DOI:10.1109/ICIEA54703.2022.10006202