Analysis on Modeling and Motion Simulation Based on Manipulator End Executor of Small Satellite during the Grasping Process

Zhang Yuan; Shao Junpeng; Zhang Liyuan; Dai Ye; Lai Yinan

Analysis on Modeling and Motion Simulation Based on Manipulator End Executor of Small Satellite during the Grasping Process

원문정보

Zhang Yuan, Shao Junpeng, Zhang Liyuan, Dai Ye, Lai Yinan

보안공학연구지원센터(IJSH) International Journal of Smart Home Vol.9 No.10 2015.10 pp.125-132

피인용수 : 0건 (자료제공 : 네이버학술정보)

초록

영어

This paper introduces the components and functions of institution aiming at docking capture link of the small satellite manipulator end executor. Putting forward to Euler method and quaternion as the theoretical basis, kinetics of grasping institution the relative position and attitude are modeling and analyzed. The axial tilt grab conditions of the simulation analysis are finished by the ADAMS software. The results of the simulation analysis for the relative position and velocity and the hand-grasp collision force are concluded.

Abstract
1. Introduction
2. The Components and Functions of Grasping Institution
3. The Relative Position and Attitude Determine of the Grasping Mechanism and Establishment of the Kinematics Model
  3.1. Definition the Coordinate System of the Grasping Mechanism
  3.2. The Introduction and Transformation Attitude Parameters
4. Dynamic Modeling and Analysis of Grasping Mechanism the Relative Position and Attitude
  4.1. Dynamic Modeling and Analysis of Grasping Mechanism the Relative Position
  4.2. Dynamic Modeling and Analysis of Grasping Mechanism Attitude
5. The Simulation Results of the End Executor Grasping Mechanism during the Grasping Process
6. Conclusion
Acknowledgments
References

키워드

저자정보

Zhang Yuan School of Mechanical and Power Engineering College, Harbin University of Science and Technology, Harbin, Heilongjiang150080, China
Shao Junpeng School of Mechanical and Power Engineering College, Harbin University of Science and Technology, Harbin, Heilongjiang150080, China
Zhang Liyuan School of Mechanical and Power Engineering College, Harbin University of Science and Technology, Harbin, Heilongjiang150080, China
Dai Ye School of Mechanical and Power Engineering College, Harbin University of Science and Technology, Harbin, Heilongjiang150080, China
Lai Yinan School of Mechanical and Power Engineering College, Harbin University of Science and Technology, Harbin, Heilongjiang150080, China

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