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Modeling and Simulation of a Flexible Shuttle-Robot

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Proceedings of the Third Conference on Mechatronics and Robotics

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Abstract

The dynamic behaviour of a flexible Shuttle-Robot which is used for the docking of an APM (Attached Pressurized Module) to an ISS (International Space Station Freedom) was analysed based on superelement technique which is the most simple approach for modeling of elastic deformable bodies in Hybrid Multibody Systems (HMBS).

The docking of the modul with the robot was carried out in various scenarios which differ in robot movement and the attached point of the end effector on the modul. Alternativ profiles of velocity for the docking process are discussed and used for simulation. From the point of view of the oscillation and vibration theory the results from the geometric nonlinear coupling of torsional and bending vibration of the flexible arm appearing when the robot undergoes a “large” motion are discussed. Additional the natural vibrations behaviour of the system robot-modul in various positions of the scenarios are investigated.

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References

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Author information

Authors and Affiliations

  1. Institute of Mechatronics, Reichenhainer Str. 88, D-09126, Chemnitz, Germany

    Dipl.-Ing. Heiko Freudenberg & Dr.-Ing. Pham Anh Tuan

Authors
  1. Dipl.-Ing. Heiko Freudenberg
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  2. Dr.-Ing. Pham Anh Tuan
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Editor information

Editors and Affiliations

  1. Universität-Gesamthochschule Paderborn, Deutschland

    Joachim Lückel

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© 1995 Springer Fachmedien Wiesbaden

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Freudenberg, H., Tuan, P.A. (1995). Modeling and Simulation of a Flexible Shuttle-Robot. In: Lückel, J. (eds) Proceedings of the Third Conference on Mechatronics and Robotics. Vieweg+Teubner Verlag, Wiesbaden. https://doi.org/10.1007/978-3-322-91170-4_25

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  • DOI: https://doi.org/10.1007/978-3-322-91170-4_25

  • Publisher Name: Vieweg+Teubner Verlag, Wiesbaden

  • Print ISBN: 978-3-519-02625-9

  • Online ISBN: 978-3-322-91170-4

  • eBook Packages: Springer Book Archive

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