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Proceedings Paper

Research on modeling and motion simulation of a spherical space robot with telescopic manipulator based on virtual prototype technology
Author(s): Chengkun Shi; Hanxu Sun; Qingxuan Jia; Kailiang Zhao
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Paper 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.

Paper Details

Date Published: 8 May 2009
PDF: 8 pages
Proc. SPIE 7331, Space Exploration Technologies II, 73310D (8 May 2009); doi: 10.1117/12.818321
Show Author Affiliations
Chengkun Shi, Beijing Univ. of Posts and Telecommunications (China)
Hanxu Sun, Beijing Univ. of Posts and Telecommunications (China)
Qingxuan Jia, Beijing Univ. of Posts and Telecommunications (China)
Kailiang Zhao, Beijing Univ. of Posts and Telecommunications (China)

Published in SPIE Proceedings Vol. 7331:
Space Exploration Technologies II
Wolfgang Fink, Editor(s)

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