کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
8055499 1519906 2018 19 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Failure tolerance strategy of space manipulator for large load carrying tasks
ترجمه فارسی عنوان
استراتژی تحمل شکست از مکانیزم فضا برای وظایف حمل بار بزرگ
کلمات کلیدی
موشک فضایی، تحمل شکست کار حمل بار بزرگ، جستجوی مسیر مسیر کاری،
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی هوافضا
چکیده انگلیسی
During the execution of large load carrying tasks in long term service, there is a notable risk of space manipulator suffering from locked-joint failure, thus space manipulator should be with enough failure tolerance performance. A research on evaluating failure tolerance performance and re-planning feasible task trajectory for space manipulator performing large load carrying tasks is conducted in this paper. The effects of locked-joint failure on critical performance(reachability and load carrying capacity) of space manipulator are analyzed at first. According to the requirements of load carrying tasks, we further propose a new concept of failure tolerance workspace with load carrying capacity(FTWLCC) to evaluate failure tolerance performance, and improve the classic A* algorithm to search the feasible task trajectory. Through the normalized FTWLCC and the improved A* algorithm, the reachability and load carrying capacity of the degraded space manipulator are evaluated, and the reachable and capable trajectory can be obtained. The establishment of FTWLCC provides a novel idea that combines mathematical statistics with failure tolerance performance to illustrate the distribution of load carrying capacity in three-dimensional space, so multiple performance indices can be analyzed simultaneously and visually. And the full consideration of all possible failure situations and motion states makes FTWLCC and improved A* algorithm be universal and effective enough to be appropriate for random joint failure and variety of requirement of large load carrying tasks, so they can be extended to other types of manipulators.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Acta Astronautica - Volume 148, July 2018, Pages 186-204
نویسندگان
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