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Contact Dynamics Associated with Space Manipulator Systems

For manipulator-assisted satellite capture, docking/berthing or space structure assembly operation, the end-effector ideally should make contact with the target grapple point with zero relative velocity. This of course is not possible in practice and leads to an impact. The nature of this impact and the contact deformations and forces induced affect the subsequent dynamics and control of the system. There can also be undesirable attitude drift of the mother spacecraft. The details of the contact dynamics are being studied using a finite element formulation that has been coupled to a flexible multibody dynamics code. Various scenarios including multi-impact cases are being studied.

A. K. Misra, S. W. Kim

Annual Report

Mon Jun 26 21:22:20 GMT 2000