Dynamic Modeling Research Of Airspace Robotics

With the evolutional step of aviation industry of mankind, it becomes become more important that using airspace robotics instead of human being. As the light-weight manipulators were used and also high accuracy was needed during the research of airspace robotics. The flexible effects must be considered. In this paper, the dynamic modeling in airspace robotics was studied. First of all, dynamics modeling for multi rigid body system of the lagrange theorem was studied for the airspace robotics, which is provided for the initial research of the dynamic and control analysis of airspacerobotics.Kane's dynamics model was established consider the effect of flexible robotic manipulator .The flexible airspace robotic manipulator's dynamic response during operation was studied, which combined with model analysis and motion control. The basic research on reliability of multi-body system was studied. The structure of the dissertation is as follows:1. The model of airspace robotic was divided into the connection of the robotic body and the robotic manipulator. Dynamics modeling for the robotic manipulator was given by lagrange theorem. This is provided for the primary study of kinematics and kinetics.2. Considering the flexible of the robotic manipulator, the single robotic manipulator dynamic was studied in small elastic deformation using kane's dynamics equations, the basic kinematic parameters were established, and then the model of flexible robotic manipulator was studied in kane's equation.3. According to existing data and information, the model were loaded in dynamic parameters. The dynamic response of single flexible robotic manipulator was studied in modal analysis.4. The basic research on reliability research of airspace robotics planning was studied. After analysis in every stages of reliability research. All of the work made foundation of basic research on motion planning reliability of airspace robotics.