Please use this identifier to cite or link to this item:
http://hdl.handle.net/10397/79987
DC Field | Value | Language |
---|---|---|
dc.contributor | Department of Mechanical Engineering | - |
dc.creator | Liu, Y | - |
dc.creator | Chen, J | - |
dc.creator | Liu, J | - |
dc.creator | Jing, X | - |
dc.date.accessioned | 2018-12-21T07:14:32Z | - |
dc.date.available | 2018-12-21T07:14:32Z | - |
dc.identifier.issn | 0924-090X | en_US |
dc.identifier.uri | http://hdl.handle.net/10397/79987 | - |
dc.language.iso | en | en_US |
dc.publisher | Springer | en_US |
dc.rights | © The Author(s) 2018 | en_US |
dc.rights | This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. | en_US |
dc.rights | The following publication Liu, Y., Chen, J., Liu, J., & Jing, X. (2018). Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment. Nonlinear Dynamics, 94(1), 649-667 is available at https://dx.doi.org/10.1007/s11071-018-4383-y | en_US |
dc.subject | Curved surface contact | en_US |
dc.subject | Kirchhoff nonlinear mechanics | en_US |
dc.subject | Slow rotation of joints | en_US |
dc.subject | Strong nonlinear interference | en_US |
dc.title | Nonlinear mechanics of flexible cables in space robotic arms subject to complex physical environment | en_US |
dc.type | Journal/Magazine Article | en_US |
dc.identifier.spage | 649 | en_US |
dc.identifier.epage | 667 | en_US |
dc.identifier.volume | 94 | en_US |
dc.identifier.issue | 1 | en_US |
dc.identifier.doi | 10.1007/s11071-018-4383-y | en_US |
dcterms.abstract | A nonlinear model of a special cable in space robotic arms is developed in space environment. The mechanic effects of control cables in powerful robots can often be neglected. However, in complex space multi-physics environments, involving ultra-low temperature, radiation, and other extreme conditions of outer space, the externally mounted cables (protected by shielding layers) can induce strong nonlinear interference to robot arms; and this can induce further small-range slow rotations or oscillations of the flexible joint of robots at a specific posture, which consequently affect the precision and operation performance of end effectors. Effective mathematical models on nonlinear mechanics of strong cables under multi-physics environments and their effects on weak robots have not been well developed yet. Complex key factors, such as low gravity, nonlinear friction, and unexpected curved surface constraints, have not been extensively investigated either. In this study, considering all these key factors, a Kirchhoff nonlinear mechanical model of cables in complex space environments is developed, and a relatively improved algorithm based on a trust-region strategy is proposed for solving this nonlinear model, based on which the geometry and terminal force of the modeled robot cable can be obtained. The validity and accuracy of the proposed algorithm and theoretical calculation results are verified via experiments. The theoretical findings revealed in this study are significant to future research on the slow rotations and oscillations of weak robot joints in space exploration with robotic arms. | - |
dcterms.accessRights | open access | en_US |
dcterms.bibliographicCitation | Nonlinear dynamics, 2018, v. 94, no. 1, p. 649-667 | - |
dcterms.isPartOf | Nonlinear dynamics | - |
dcterms.issued | 2018 | - |
dc.identifier.scopus | 2-s2.0-85048292619 | - |
dc.identifier.eissn | 1573-269X | en_US |
dc.description.validate | 201812 bcrc | en_US |
dc.description.oa | Version of Record | en_US |
dc.identifier.FolderNumber | OA_IR/PIRA | en_US |
dc.description.pubStatus | Published | en_US |
Appears in Collections: | Journal/Magazine Article |
Files in This Item:
File | Description | Size | Format | |
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Liu_Nonlinear_Robotic_Arms.pdf | 3.55 MB | Adobe PDF | View/Open |
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