TECHNICAL MECHANICS
ISSN (Print): 1561-9184, ISSN (Online): 2616-6380
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UDC 629.78
Technical mechanics, 2017, 2, 20 - 32
MODEL PROBLEMS FOR CLASS OF SYSTEMS FOR MUTUAL POSITIONING SPACECRAFT AND PAYLOAD
DOI: https://doi.org/10.15407/itm2017.02.020
S. V. Tarasov, A. A. Fokov
| ABOUT THE AUTHORS |
S. V. Tarasov
“Transmag” Institute of Transport Systems and Technologies
Ukraine
A. A. Fokov
Institute of Technical Mechanics of the National Academy of Sciences of Ukraine and the State Space Agency of Ukraine
Ukraine
| ABSTRACT |
The class of systems for mutual positioning a spacecraft and payload is considered. It can include the existing
systems for transportation of a payload relative to an orbital spacecraft using an anthropomorphic manipulator
and the advanced systems with a manipulative parallel-kinematics mechanism. The present work deals with the
development of model problems for the above class. To attain this, the most significant elements have been specified
to analyze the processes under consideration. Those model problems are able to reveal the special features of
the dynamics of a controlled motion of the systems under consideration, to select and develop algorithms of the
motion control. Studies of oscillation processes in the parallel-kinematics mechanism, taking into account the
mobility of its base in the inertial space and the mutual effects of the entire system motion and its relative motion,
are carried out based on the presented model problems.
| KEYWORDS |
systems for mutual positioning, spacecraft, payload, parallel- kinematics mechanism, model problems, dynamic studies.
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| REFERENCES |
1. Alpatov A. P., Belonozhko P. A., Belonozhko P.P., Kuzmina L. K., Tarasov S. V., Fokov A. A. Advanced applications and special features of dynamic studies of space manipulators with elastic design elements. Teh. Meh. 2012. No. 1. Pp. 82-93. (in Russian).
2. Artemenko Yu. N., Belonozhko P. P., Karpenko A. P., Fokov A. A. Studies of special features of guidance of massive payload using space manipulator considering a mobile base without external forces. Nauka i Obrazovanie. Bauman MSTU. Electron Journal. 2014. No. 12. Pp. 682-704. (in Russian).
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4. Artemenko Yu. N., Belonozhko P. P., Karpenko A. P., Fokov A. A. Application of parallel structured mechanisms for mutual payload-spacecraft positioning. Proceedings of the 7th Symposium on Extremely-Operating Robots for Danger Environment. St. Petersburg: Politekhnika-Servis Publishing House, 2013. Pp. 271-284. (in Russian).
5. Demidov S. M. Development and analysis of parallel-structured mechanisms for manipulating space telescope antennas. Vestnik Nauchno-Tekhnicheskogo Razvitia. 2013. No. 4(68). Pp. 3-7. (in Russian).
6. Merlet J.-P. Parallel Robots. Dordrecht. The Netherlands: Springer, 2006. 394 pp.
7. Lurye A. I. Analytical Mechanics. Moscow: Fizmatgiz, 1961. 824 pp. (in Russian).
DOI: https://doi.org/10.15407/itm2017.02.020
Copyright (©) 2017 S. V. Tarasov, A. A. Fokov
Copyright © 2014-2018 Technical mechanics
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