Modeling and simulation of joint clearance effects on space manipulator

The joint plays a very important role in the safe and steady operation of space manipulator as one of critical components. To fully reflect the joint in large space manipulator and optimize design of joint in detail, a general methodology for the dynamic modeling and analysis of space manipulator is presented in this paper. The continuous contact model is employed to describe the contact-impact behavior between journal and bearing. Simulation is carried out to investigate the dynamic performances of space manipulator with joint clearances. The effects of clearance size on the dynamic characteristics of the space manipulator are remarkable. The influences of microgravity on the dynamic response of space manipulator with joint clearance are also investigated in this paper. The results of simulation could help to predict the joint vibration in space manipulator.