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Orbit-Attitude-Rotating Coupling Dynamics of Space Manipulator Assembled with Camera

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Journal of Vibration Engineering & Technologies Aims and scope Submit manuscript

Abstract

Purpose

A space manipulator assembled with a rotating camera is typically used to capture/take photos of the spacecraft’s surrondings or target being focused in space exploration and satellite services. The rotation of the camera disturbs the position and attitude of the space manipulator. The complicated orbit-attitude-rotating coupling dynamics proposes enormous challenge for dynamic modeling and vibration analysis on it.

Method

In this paper, the orbit-attitude-rotating coupling dynamic behaviors of a combined structure idealized as a planar rigid rod with rotating rigid body are investigated via the structure-preserving method. Considering the coupling effects between the planal orbit-attitude motion of the rigid rod and the rotation motion of the camera, the dynamic model of the combined structure is established referring to the well-known Euler-Lagrange equation. A symplectic dimensionality reduction method is proposed to deal with the coupled equations. The energy transfer resulting from the complex coupling effects can be accurately reproduced employing the structure-preserving iteration method.

Results and Conclusions

The effects of energy transfer among different mechanical components, the attitude angle and the true anomaly angle on the coupled dynamics are investigated in detail. The numerical results show that, the energy transfer, reflected by the orbit speed, the attitude angular velocity and the attitude angle value, affects the nonlinear dynamic behavior of the system remarkably. When the initial attitude angle exceeds a certain value, a second-order frequency appears in the system. However, the effect of the true anomaly angle on the system dynamics isn’t obvious. The above findings can be used to guide the attitude adjustment scheme and the vibration control strategy design for the space manipulator assembled with a component.

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Acknowledgements

The research is supported by the National Natural Science Foundation of China (12172281), Fund for Natural Science Foundation of Shaanxi Province (2021JQ-866), the Fund of the Science and Technology Innovation Team of Shaanxi (2022TD-61), Fund for Distinguished Young Scholars of Shaanxi Province (2019JC-29), Foundation Strengthening Program Technical Area Fund (2021-JCJQ-JJ-0565), the Fund of the Youth Innovation Team of Shaanxi Universities (22JP055), the open project of State Key Laboratory of Performance Monitoring and Protecting of Rail Transit Infrastructure, East China Jiaotong University (HJGZ2023102) and General project of Shaanxi-Social development area (2024SF-YBXM-531) and the Doctoral Dissertation Innovation Fund of Xi'an University of Technology (252072216, 252082215). The authors declare that they have no conflict of interest with the present manuscript.

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Authors and Affiliations

  1. School of Civil Engineering and Architecture, Xi’an University of Technology, Xi’an, Shaanxi, 710048, People’s Republic of China

    Mengbo Xu, Weipeng Hu, Yifan Song, Baoding Zhao & Peijun Zhang

  2. School of Civil Engineering, Xijing University, Xi’an, Shaanxi, 710123, People’s Republic of China

    Mengbo Xu & Peijun Zhang

  3. State Key Laboratory of Eco-Hydraulics in Northwest Arid Region of China, Xi’an University of Technology, Xi’an, Shaanxi, 710048, People’s Republic of China

    Weipeng Hu

  4. School of Mechanics, Civil Engineering and Architecture, Northwestern Polytechnical University, Xi’an, Shaanxi, 710072, People’s Republic of China

    Zichen Deng

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  1. Mengbo Xu
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Correspondence to Weipeng Hu.

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Xu, M., Hu, W., Song, Y. et al. Orbit-Attitude-Rotating Coupling Dynamics of Space Manipulator Assembled with Camera. J. Vib. Eng. Technol. 12, 8567–8580 (2024). https://doi.org/10.1007/s42417-024-01376-2

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