Dynamic analysis and co-simulation ADAMS-SIMULINK for a space manipulator joint

In this paper, a virtual dynamic model using ADAMS, considering the effects of the mesh stiffness, mesh damping, load inertia, drive ratio and gear backlash is presented for a space manipulator joint. A kind of virtual sweep method is adopted to analyze the resonant frequency of the joint quantitatively and mesh stiffness and load inertia are proposed the key influence factors of frequency property of the joint. In order to design, validate and improve the performance of the joint mechatronic system, the ADAMS and SIMULINK co-simulation is used to build a servo-control model of the joint. The joint motor is derived and modeled, and the dynamic model of the space manipulator joint with sensors and actuator implemented in ADAMS is embedded into SIMULINK environment directly. The speed and position two-loop control system is modeled in SIMULINK, and the control parameters were obtained. A prototype joint and controller are manufactured, a virtual prototype model tuning is implemented through the experimental data. So the co-simulation joint model can be used for the design, simulation and testing of the space manipulator joint.