摩擦力による保持機構を有する2フレキシブルリンクマニピュレータの姿勢及び振動制御に関する研究

抄録

In recent years, space manipulators have been used in space development for building large structures and recovering damaged satellites. Arm length and multi-link of arms are increasing due to expansion of work area. Also, they have been reduced in weight and flexibility in order to restrict the weight of the launch vehicle and reduce launch cost. However, since each motor used for each axis of the manipulator requires one motor driver, increasing the number of motor drivers and the weight of the entire manipulator system are problems due to multi-linking. Therefore, our group has proposed a system that can operate with fewer drivers by switching the motor driver and the piezoelectric driver for braking on each axis. Then, Complex behaviors in which flexibility and friction interact may occur. In this paper, ANCF is applied to 2- flexible link manipulator and the formulation of non-smooth frictional force using LCP is introduced. Also, the behavior of the system is confirmed by numerical analysis. An energy minimization trajectory is derived for solving the efficiency deterioration which is a problem in the proposed system.