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

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment
	Liu JG(刘金国); Jing XJ(景兴建); Liu YW(刘玉旺); Chen, Jibiao ; Liu KZ(刘开周); Wang XH(王晓辉)
刊名	Nonlinear Dynamics
	2018
页码	1-19
关键词	Strong nonlinear interference Slow rotation of joints Kirchhoff nonlinear mechanics Curved surface contact
ISSN号	0924-090X
通讯作者	Liu YW(刘玉旺)
产权排序	1
中文摘要	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.
收录类别	EI
语种	英语
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/22076]
专题	沈阳自动化研究所_水下机器人研究室
作者单位	1.Department of Mechanical Engineering and Automation, Northeastern University, Shenyang, China 2.Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式 GB/T 7714	Liu JG,Jing XJ,Liu YW,et al. Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment[J]. Nonlinear Dynamics,2018:1-19.
APA	Liu JG,Jing XJ,Liu YW,Chen, Jibiao,刘开周,&王晓辉.(2018).Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment.Nonlinear Dynamics,1-19.
MLA	Liu JG,et al."Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment".Nonlinear Dynamics (2018):1-19.