415 Motion Analysis of Space Robot with Multiple Arms in Three-Dimensional Space

摘要

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.