Research on modeling and motion simulation of a spherical space robot with telescopic manipulator based on virtual prototype technology

Chengkun Shi; Hanxu Sun; Qingxuan Jia; Kailiang Zhao

doi:10.1117/12.818321

8 May 2009 Research on modeling and motion simulation of a spherical space robot with telescopic manipulator based on virtual prototype technology

Chengkun Shi, Hanxu Sun, Qingxuan Jia, Kailiang Zhao

Author Affiliations +

Proceedings Volume 7331, Space Exploration Technologies II; 73310D (2009) https://doi.org/10.1117/12.818321
Event: SPIE Defense, Security, and Sensing, 2009, Orlando, Florida, United States

Abstract

For realizing omni-directional movement and operating task of spherical space robot system, this paper describes an innovated prototype and analyzes dynamic characteristics of a spherical rolling robot with telescopic manipulator. Based on the Newton-Euler equations, the kinematics and dynamic equations of the spherical robot's motion are instructed detailedly. Then the motion simulations of the robot in different environments are developed with ADAMS. The simulation results validate the mathematics model of the system. And the dynamic model establishes theoretical basis for the latter job.

Citation Download Citation

Chengkun Shi, Hanxu Sun, Qingxuan Jia, and Kailiang Zhao "Research on modeling and motion simulation of a spherical space robot with telescopic manipulator based on virtual prototype technology", Proc. SPIE 7331, Space Exploration Technologies II, 73310D (8 May 2009); https://doi.org/10.1117/12.818321

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