Huge-Object Manipulation in Space by Vehicle-Type Robots

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概要

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• Previous studies on space robots have assumed a relatively small object as the manipulated target, but in space, a target object can be relatively large, e.g., a space station or a solar-powered satellite. In these cases, manipulation by several vehicle-type robots or vehicles, hereafter, which have thrust engines is superior to that by arms mounted on spacecraft. In manipulation by vehicles, fuel consumption in a thrust engine is related to the norm of force generated by the vehicle. The norm of the force depends on the positions of contact points. Therefore, contact points of the vehicles are important in view of the fuel consumption. In this paper, the optimal contact points are defined as the points which minimize the norm of force needed for the acceleration of the target object or maximize DMM (dynamic manipulability margin) according to the nature of the task. Experiments to verify the validity of this optimal contact points determination method will also be shown.

• 一般社団法人日本機械学会の論文
• 1995-09-15

著者

• KIMURA HIROSHI

  University of Electro-Communications

• Kimura H

  Department Of Experimental Radiology Shiga University Of Medical Science

• Wang Zhidong

  Graduate School Of Engineering Tohoku University

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• THE ORIGIN AND THE EVOLUTION OF THE THIOESTER-CONTAINING PROTEIN(Physiology,Abstracts of papers presented at the 74^ Annual Meeting of the Zoological Society of Japan)
• FUNCTIONAL INVESTIGATION OF THE DRP/DHP/CRAM/UNC-33 FAMILY IN PLANARIANS, DUGESIA JAPONICA(Developmental Biology,Abstracts of papers presented at the 74^ Annual Meeting of the Zoological Society of Japan)
• Acquisition of a symbolic manipulation task model by attention point analysis
• Huge-Object Manipulation in Space by Vehicle-Type Robots

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