Abstract
Problem statement: prospects of space robotics are significantly determined by the need in automation of assembly and servicing operations. One of possible solution to this problem is group usage of emerging SEM-systems, that are robotic assembly and servicing space modules (RASSM) equipped with a manipulator (or manipulators) that are capable of moving themselves in space and adapted for contact with objects being assembled (maintained) [1,2,3,4,5,6,7,8]. One of key features of such modules is presence of dynamic modes in which not only cargo can be moved with a help of a manipulator relative to the bottom, but also the bottom itself can be moved [1, 3, 6,7,8,9]. At that there is a possibility of its own inertia movements by internal degrees of freedom of the RASSM emerging both in absence of external forces and moments and control actions in joints of the manipulator. Studying these movements are of interest from the point of view of combination of controlling a separate RASSM as well as a group of interacting RASSM. At that studying the given system which dynamic equations in certain conditions can be deduced in the form of Routh equations turns to be effective. It is convenient to interpret the full mechanical energy of the given system as sum of kinetic and potential components. Formulation of the source system kinetic energy as a function of joints position is an important stage in this process. For a generic case of a three-dimensional system of two solid bodies connected by a certain massless mechanism with an intentionally alterable structure there is kinetic energy derivation as a function of position and cargo speeds relative to the bottom as well as vector projections of the constant moment of momentum in the inertia frame onto axes of the reference frame connected with a movable bottom. Practical significance: obtained results are of interest from the point of view of quality examination of peculiarities of the three-dimensional variant of proper inertia movements of the system by manipulator degrees of freedom at a system non-zero moment of momentum, as well as from the point of view of usage of advanced computerized tools for scientific research (particularly, symbolic mathematics system) while deducing equations of the given system dynamics for various kinematic schemes of the manipulation mechanism.
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Belonozhko, P.P. (2019). Robotic Assembly and Servicing Space Module Peculiarities of Dynamic Study of Given System. In: Gorodetskiy, A., Tarasova, I. (eds) Smart Electromechanical Systems. Studies in Systems, Decision and Control, vol 174. Springer, Cham. https://doi.org/10.1007/978-3-319-99759-9_23
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DOI: https://doi.org/10.1007/978-3-319-99759-9_23
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