Impact Modeling and Estimation for Multi-Arm Space Robot while Capturing Tumbling Orbiting Objects (Record no. 14690)
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000 -LEADER | |
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fixed length control field | 02886nam a22001697a 4500 |
082 ## - DEWEY DECIMAL CLASSIFICATION NUMBER | |
Classification number | 629.47 |
Item number | R154I |
100 ## - MAIN ENTRY--AUTHOR NAME | |
Personal name | Raina, Deepak |
245 ## - TITLE STATEMENT | |
Title | Impact Modeling and Estimation for Multi-Arm Space Robot while Capturing Tumbling Orbiting Objects |
Statement of responsibility, etc | by Deepak Raina |
260 ## - PUBLICATION, DISTRIBUTION, ETC. (IMPRINT) | |
Place of publication | IIT Jodhpur |
Name of publisher | Department of Mechanical Engineering |
Year of publication | 2017 |
300 ## - PHYSICAL DESCRIPTION | |
Number of Pages | xiii,62p. |
Other physical details | HB |
520 ## - SUMMARY, ETC. | |
Summary, etc | "Autonomous on-orbit services, such as capturing, refueling, and repair and refurbishment<br/>of an on-orbit satellite using a robot mounted on service satellite, will be one of the important<br/>components of the space missions in future. The main objective of capturing faulty satellites/debris<br/>is to avoid their possible collision with a working satellite in the same orbit. Use of space robots<br/>boosts the reliability, safety, and ease of execution of operations. Driven by this motivation, an<br/>attempt has been made in this work to develop a framework for impact modeling of a multi-arm<br/>robotic system mounted on a servicing satellite while the capture of tumbling orbiting objects. A<br/>robotic system with multiple arms would be capable of capturing multiple objects simultaneously.<br/>Further, when the satellite is in broken state or does not have provision for grapple and tumbling,<br/>the interception is very difficult. In such cases, interception using multi-arm robotic system can<br/>be appealing as this will increase the probability of grasp in comparison to the single-arm robot.<br/>In this work, three phases of the capturing operation, namely, approach, impact, and post-impact<br/>have been modeled. In the approach phase, the robot is traveled from its initial configuration to the<br/>desired configuration. It is essential that at the time of interception the velocity of the end-effector<br/>should be equal to that of the point to be grasped in order to avoid any impact. Hence, the main<br/>objective in approach phase is to move end-effector from point-to-point with desired final velocity.<br/>But in practice, there will be a non-zero relative velocity between the end-effector and the grapple<br/>point, leading to an impact. In the impact phase, a framework is developed to estimate the changes<br/>in the generalized velocities caused by the impact. In post-impact phase, these velocities are used as<br/>an initial condition for the post impact dynamics simulations. Efficacy of the framework is shown<br/>using a dual-arm robot mounted on a servicing satellite performing capturing operation for two<br/>objects, in the case of open-loop impact and for the single object, in the case of closed-loop impact.<br/>The effects of relative velocity and angle of approach on the impact forces have been investigated.<br/>i"<br/> |
650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM | |
Topical Term | Impact Modeling and Estimation |
Topical Term | MTech Theses |
Topical Term | Department of Mechanical Engineering |
700 ## - ADDED ENTRY--PERSONAL NAME | |
Personal name | Shah, Vijay Kumar |
942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
Koha item type | Thesis |
Withdrawn status | Lost status | Damaged status | Not for loan | Collection code | Permanent Location | Current Location | Shelving location | Date acquired | Full call number | Accession Number | Price effective from | Koha item type |
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Not For Loan | Reference | S. R. Ranganathan Learning Hub | S. R. Ranganathan Learning Hub | Course Reserve | 2024-01-18 | 629.47 R154I | TM00113 | 2024-01-18 | Thesis |