空间机械臂稳定绳系卫星回收的研究

Space Manipulator for The Retrieval of The Tethered Satellite

要讨论“载体 -机械臂 -变长绳索 -子星”链结构多体系统 ,首先采用 R/W方法导出载体、机械臂系统动力学方程 ,针对绳系卫星回收过程中出现的动力学不稳定现象 ,运用空间机械臂的辅助动作对绳系卫星进行镇定 .提出的方案可确保动力系统具有渐近稳定性 .

The system of the tethered satellite and the space manipulator is discussed.The dynamical equations are derived with Roberson/Wittenburg method.The system of the tethered satellite is stabilized during the retrieval phases by the assistant movement of the space manipulator.Finally,results of numerical simulation are shown.