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Estimation of Vibration Characteristics of a Space Manipulator From Air Bearing Supported Test Data

Space manipulators have attracted much attention due to their implications in on-orbit servicing in recent years. Air bearing based support equipment is widely used for ground test to offset the effect of gravity. However, an air bearing support introduces a new problem caused by additional inertial...

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Autores principales: Li, Haiquan, Wei, Qingqing, Liang, Jianxun, Ren, Weiyan, Tang, Zixin, Li, Delun
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2021
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8155630/
https://www.ncbi.nlm.nih.gov/pubmed/34055901
http://dx.doi.org/10.3389/frobt.2021.641165
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author Li, Haiquan
Wei, Qingqing
Liang, Jianxun
Ren, Weiyan
Tang, Zixin
Li, Delun
author_facet Li, Haiquan
Wei, Qingqing
Liang, Jianxun
Ren, Weiyan
Tang, Zixin
Li, Delun
author_sort Li, Haiquan
collection PubMed
description Space manipulators have attracted much attention due to their implications in on-orbit servicing in recent years. Air bearing based support equipment is widely used for ground test to offset the effect of gravity. However, an air bearing support introduces a new problem caused by additional inertial and mass properties. Additional mass and inertial load will influence the dynamics behavior, especially stiffness information and vibration response of the whole ground test system. In this paper, a set of procedures are presented to remove the influence of air bearings and identify the true equivalent joint stiffness and damping from the test data of a motor-braked space manipulator with an air bearing support. First, inertia parameters are identified. Then, the equivalent joint stiffness and damping are determined by using a genetic algorithm (GA) method. Finally, true vibration characteristics of the manipulator are estimated by removing the additional inertia caused by the air bearings. Moreover, simulations and experiments are carried out to validate the presented procedures.
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spelling pubmed-81556302021-05-28 Estimation of Vibration Characteristics of a Space Manipulator From Air Bearing Supported Test Data Li, Haiquan Wei, Qingqing Liang, Jianxun Ren, Weiyan Tang, Zixin Li, Delun Front Robot AI Robotics and AI Space manipulators have attracted much attention due to their implications in on-orbit servicing in recent years. Air bearing based support equipment is widely used for ground test to offset the effect of gravity. However, an air bearing support introduces a new problem caused by additional inertial and mass properties. Additional mass and inertial load will influence the dynamics behavior, especially stiffness information and vibration response of the whole ground test system. In this paper, a set of procedures are presented to remove the influence of air bearings and identify the true equivalent joint stiffness and damping from the test data of a motor-braked space manipulator with an air bearing support. First, inertia parameters are identified. Then, the equivalent joint stiffness and damping are determined by using a genetic algorithm (GA) method. Finally, true vibration characteristics of the manipulator are estimated by removing the additional inertia caused by the air bearings. Moreover, simulations and experiments are carried out to validate the presented procedures. Frontiers Media S.A. 2021-05-13 /pmc/articles/PMC8155630/ /pubmed/34055901 http://dx.doi.org/10.3389/frobt.2021.641165 Text en Copyright © 2021 Li, Wei, Liang, Ren, Tang and Li. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Li, Haiquan
Wei, Qingqing
Liang, Jianxun
Ren, Weiyan
Tang, Zixin
Li, Delun
Estimation of Vibration Characteristics of a Space Manipulator From Air Bearing Supported Test Data
title Estimation of Vibration Characteristics of a Space Manipulator From Air Bearing Supported Test Data
title_full Estimation of Vibration Characteristics of a Space Manipulator From Air Bearing Supported Test Data
title_fullStr Estimation of Vibration Characteristics of a Space Manipulator From Air Bearing Supported Test Data
title_full_unstemmed Estimation of Vibration Characteristics of a Space Manipulator From Air Bearing Supported Test Data
title_short Estimation of Vibration Characteristics of a Space Manipulator From Air Bearing Supported Test Data
title_sort estimation of vibration characteristics of a space manipulator from air bearing supported test data
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8155630/
https://www.ncbi.nlm.nih.gov/pubmed/34055901
http://dx.doi.org/10.3389/frobt.2021.641165
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