Host: The Japan Society of Mechanical Engineers
Name : Dynamics and Design Conference 2021
Date : September 13, 2021 - September 17, 2021
In recent years, space manipulators have been used in various situations in space development. 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, this paper proposes a system that can operate with fewer drivers by switching the motor driver and the piezoelectric driver for braking on each axis. However, complex behavior occurs due to the non-smooth friction of multiple brakes, which affects the control performance. Therefore, it’s necessary to analyze and design the control system in consideration of them. 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.
