Dynamic analysis of a space manipulator with two arms

• Grant number: 17/11613-4
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: September 01, 2017
• End date: August 31, 2019
• Field of knowledge: Engineering - Aerospace Engineering - Aerospace Systems
• Principal Investigator: Tatiana de Figueiredo Pereira Alves Taveira Pazelli
• Grantee: Gabriel da Silva Rodrigues
• Host Institution: Centro de Ciências Exatas e de Tecnologia (CCET). Universidade Federal de São Carlos (UFSCAR). São Carlos , SP, Brazil

Abstract

The development of orbital space robotics in the last decades is directed at the demand for extra-vehicular missions, such as supply, maintenance, inspection, rescue and transportation of materials. A space manipulator may be defined by one or more arms coupled to a floating base (satellite) developed for orbital operation. The differential characteristic of these systems is the dynamic coupling between the base and the manipulator(s). In this sense, it is proposed in this project of Scientific Initiation, the development of dynamic models of a serial space manipulator with two arms from the modeling mechanisms applied to fixed-base manipulators, such as Lagrange, Newton-Euler and Kane. It is intended, from these results, to analyze the equation of the dynamic coupling between the floating base and the robotic arms, and to obtain conclusions about the generality, stability and occurrence of singularities in these representations. Finally, a basic control system will be implemented in closed loop to evaluate the behavior of the models in a trajectory tracking task for the end-effectors of each arm. This Scientific Initiation project will be developed within the scope of INCT for Cooperative Autonomous Systems supported by CNPq and whose complementary Thematic Project is under analysis with process number 2014 / 50851-0. (AU)