抄録
With the increasing use of the International Space Station, humans have more opportunities to work in space. In space, a mobility device that operates efficiently is needed. But, some problems must be solved. First, the human body is suspended without the force of gravity. Second, the air cannot be polluted in the closed space of the Space Station. Thus, an air-polluting mobility device, such as a device with a gas jet using a thruster is objectionable. In this research, a mobility system called the "Tether Space Mobility Device" (TSMD) is proposed. In general, the tether is a cable or a wire rope. The tethers are expected to shift the orbit of another object without using a thruster and to move robots in space. TSMD has a mechanism that enables the tether to move an object. In this study, the TSMD model is composed of two rigid bodies and one flexible body that can express motion with large deformation and large displacement. Several modeling of TSMD is performed. An influence on motion and control of TSMD is discussed.
