Analysis Of Dynamics And Vibration Characteristics Of Space Flexible Manipulators In Orbit

In recent decades,the role of the robotic arm system in human exploration of the universe has not been replaced.The space manipulator is a key component of spacecraft,which can replace humans in a complex and harsh environment to complete a series of space missions and conduct scientific experiments in space.Therefore,in recent decades,more and more researchers have begun to pay attention to the space manipulator system.As a veritable structure with both rigid and soft characteristics,given the characteristics of its own rigid and soft coexistence and the limitations of current experimental conditions,there will still be difficulties in the study of such systems.This paper systematically investigates the research status of the space manipulator industry,and conducts the following research on the process of the space flexible manipulator grabbing the target object:Firstly,based on the actual model,ANSYS and ADAMS are used together to establish a precise space manipulator model.The dynamic simulation analysis of the whole process of grabbing the target object by the space manipulator is carried out to study the model joints in the process of grabbing the target object.Torque,stress on the box and the capture rod;simulation analysis of the gripping process when the box is unfolded at different angles,comparing the force of each part of the space flexible manipulator in different gripping postures.Secondly,using the length and radius of the boom as variable parameters,the parameterized space manipulator is established in the kinetic software ADAMS;the parameters of the box,the length and radius of the trap are changed respectively,and the space flexible manipulator is grabbed.The whole process of the object is simulated and analyzed,and the force of each part of the space manipulator in the process of grabbing the target object under different arm length and radius parameters is compared and analyzed.Finally,the modal analysis of the space manipulator is carried out by using the ADAMS/Vibration module to study the inherent characteristics of the vibration.Using the established parametric model,the parameters such as the length of the capture rod and the elastic modulus are changed and the target object is captured.The simulation analysis is carried out to study the vibration of the manipulator system in the process ofgrabbing the target object.From the perspective of structural design,the strategy of suppressing the vibration generated when the space flexible manipulator system grabs the target object is given.