Abstract
Despite the significant achievements of the last decades in the field of space robotics, the task of automated Assembly and maintenance of large space objects continues to be relevant. At the same time, it is advisable to consider the set of serviced facilities and maintenance facilities of robotics in the future as a single cyber-physical system. Its key element is the assembly and service robotic space module (ASRSM). An important feature of the ASRSM as an element of the cyber-physical system is the potential variety of possible modes of controlled motion. The mentioned feature is of fundamental importance in the development of a complex of Autonomous robotic means interacting with a complex technical object in extreme conditions. The study of the characteristics of dynamic regimes ASRSM is advantageously carried out with the use of model problems involving the study of simplified models with the subsequent generalization of the results. It provides both theoretical and practical interest to mechanical design scheme ASRSM of the “movable base—massless single-stage handling mechanism payload”. It is shown that in the absence of external forces, a nonlinear oscillatory system with one degree of freedom can be put in correspondence with this system. This system is described by an independent Routh equation, and, in accordance with the terminology adopted in analytical mechanics, is called reduced. The methodical features of the mathematical description of the reduced system for the model problem are considered. It is shown that the Routh function considered as the Lagrange function of the reduced system can be excluded from the term corresponding to zero gyroscopic force and being a full derivative in time from some function of positional velocity and coordinate. In the absence of a control moment, an integral of energy can be written in the hinge, which has the form of the sum of the kinetic and potential energy of the reduced system, and determines the family of phase trajectories of the system’s own motions. The considered problem is of both applied and methodological interest. Qualitative generalization of the obtained results in the case of spatial reduced systems with several degrees of freedom is relevant from the point of view of using their own inertial motions in the construction of control.
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Belonozhko, P.P. (2020). Assembly and Service Robotic Space Module. Mathematical Model of the Reduced System. In: Kravets, A., Bolshakov, A., Shcherbakov, M. (eds) Cyber-Physical Systems: Advances in Design & Modelling. Studies in Systems, Decision and Control, vol 259. Springer, Cham. https://doi.org/10.1007/978-3-030-32579-4_27
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