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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...
Autores principales: | , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2021
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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. |
format | Online Article Text |
id | pubmed-8155630 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
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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