415 三次元多腕型宇宙ロボットの運動解析(ロボット,OS-14:マルチボディダイナミクス)

概要

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In recent years, the space robot which does various works with the manipulator has been studied actively, in order to cope with various problems in astronaut's activities outboard. Unfortunately, the motion of a space manipulator causes disturbance to the spacecraft, because angular momentum is conserved in space. In this paper, based on the Kane's dynamical equation and an approach of multi-body dynamics, motion analysis is done in consideration of conservation law of angular velocity to built an equation of motion of the space robot in three-dimension, which is a first-order nonholonomic system. We show that our proposed algorithm is applicable to any tree-structured space robot by carrying out simulation for a cat robot.
社団法人日本機械学会の論文
2004-09-27