抄録
With the increasing use of the International Space Station, humans have more opportunities to work in outer space. In outer space, a mobility device that operates efficiently is needed. In this research, a new mobility device using tether for outer space named Tether Space Mobility Device (TSMD) is proposed. TSMD moves human by winding the tether which is attached to the wall of the structure. In this study, the numerical model of TSMD and the method of attitude control are proposed. The TSMD model is composed of three rigid bodies and one flexible body is formulated by Absolute Nodal Coordinate Formulation (ANCF). The attitude control suppresses the rotational motion of TSMD by operating the angle of the arm. In this paper, the numerical results of angular velocity with attitude control and without attitude control are compared. From the results, the attitude control is found to be effective.
