Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment

doi:10.1007/s11071-018-4383-y

IMR OpenIR

	Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment
	Liu, Yuwang 1; Chen, Jibiao 1,2; Liu, Jinguo 1; Jing, Xingjian 3
通讯作者	Liu, Yuwang(liuyuwang@sia.cn)
	2018-10-01
发表期刊	NONLINEAR DYNAMICS
ISSN	0924-090X
卷号	94 期号:1 页码:649-667
摘要	A 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.
关键词	Strong nonlinear interference Slow rotation of joints Kirchhoff nonlinear mechanics Curved surface contact
资助者	National Natural Science Foundation of China ; State Key Laboratory of Robotics Fund ; Innovation Foundation for National Defense Science and Technology of Chinese Academy of Sciences
DOI	10.1007/s11071-018-4383-y
收录类别	SCI
语种	英语
资助项目	National 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研究方向	Engineering ; Mechanics
WOS类目	Engineering, Mechanical ; Mechanics
WOS记录号	WOS:000445375700041
出版者	SPRINGER
引用统计	被引频次：6[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.imr.ac.cn/handle/321006/129451
专题	中国科学院金属研究所
通讯作者	Liu, Yuwang
作者单位	1.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
推荐引用方式 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.