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Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment
Liu, Yuwang1; Chen, Jibiao1,2; Liu, Jinguo1; Jing, Xingjian3
Corresponding AuthorLiu, Yuwang(liuyuwang@sia.cn)
2018-10-01
Source PublicationNONLINEAR DYNAMICS
ISSN0924-090X
Volume94Issue:1Pages:649-667
AbstractA nonlinear model of a special cable in space robotic arms is developed in space environment. The mechanic effects of control cables in powerful robots can often be neglected. However, in complex space multi-physics environments, involving ultra-low temperature, radiation, and other extreme conditions of outer space, the externally mounted cables (protected by shielding layers) can induce strong nonlinear interference to robot arms; and this can induce further small-range slow rotations or oscillations of the flexible joint of robots at a specific posture, which consequently affect the precision and operation performance of end effectors. Effective mathematical models on nonlinear mechanics of strong cables under multi-physics environments and their effects on weak robots have not been well developed yet. Complex key factors, such as low gravity, nonlinear friction, and unexpected curved surface constraints, have not been extensively investigated either. In this study, considering all these key factors, a Kirchhoff nonlinear mechanical model of cables in complex space environments is developed, and a relatively improved algorithm based on a trust-region strategy is proposed for solving this nonlinear model, based on which the geometry and terminal force of the modeled robot cable can be obtained. The validity and accuracy of the proposed algorithm and theoretical calculation results are verified via experiments. The theoretical findings revealed in this study are significant to future research on the slow rotations and oscillations of weak robot joints in space exploration with robotic arms.
KeywordStrong nonlinear interference Slow rotation of joints Kirchhoff nonlinear mechanics Curved surface contact
Funding OrganizationNational Natural Science Foundation of China ; State Key Laboratory of Robotics Fund ; Innovation Foundation for National Defense Science and Technology of Chinese Academy of Sciences
DOI10.1007/s11071-018-4383-y
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[51605474] ; State Key Laboratory of Robotics Fund[2016-Z09] ; Innovation Foundation for National Defense Science and Technology of Chinese Academy of Sciences[CXJJ-17-M109]
WOS Research AreaEngineering ; Mechanics
WOS SubjectEngineering, Mechanical ; Mechanics
WOS IDWOS:000445375700041
PublisherSPRINGER
Citation statistics
Cited Times:2[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.imr.ac.cn/handle/321006/129451
Collection中国科学院金属研究所
Corresponding AuthorLiu, Yuwang
Affiliation1.Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang, Liaoning, Peoples R China
2.Northeastern Univ, Dept Mech Engn & Automat, Shenyang, Liaoning, Peoples R China
3.Hong Kong Polytech Univ, Dept Mech Engn, Hong Kong, Hong Kong, Peoples R China
Recommended Citation
GB/T 7714
Liu, Yuwang,Chen, Jibiao,Liu, Jinguo,et al. Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment[J]. NONLINEAR DYNAMICS,2018,94(1):649-667.
APA Liu, Yuwang,Chen, Jibiao,Liu, Jinguo,&Jing, Xingjian.(2018).Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment.NONLINEAR DYNAMICS,94(1),649-667.
MLA Liu, Yuwang,et al."Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment".NONLINEAR DYNAMICS 94.1(2018):649-667.
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