Influence of Elastic and Dissipative Properties of Hinge Joints on Dynamics of Space Manipulator

摘要

Mathematical model of dynamics of a multilink space robot manipulator, considered as a system of many absolutely rigid bodies, is constructed. Elastic compliance and friction in connecting hinges are taken into account. The suggested technique of derivation of the system equations of motion is based on simultaneous application of formalism of Euler-Lagrange and of Lagrange 2nd kind equations. Problems of dynamic and kinematic control of spatial motions of the system are formulated. A numerical example of study of dynamics of a two-link robot is considered.