Design and Dynamics Modeling of Autonomous Maneuvering Tethered-Net Space Robot System.

A new concept of autonomous maneuvering tethered-net space robot system is presented in this paper. The autonomous maneuvering tethered-net space robot system consists of platform, tether, a flexible net and several autonomous maneuvering units. The task range and maneuverability have been significantly improved. The concept, task and traits of the autonomous maneuvering tethered-net space robot system are described in detail. In order to research the variation of the net formation, a lumped mass model which divides the net into finite mass points connected with springs without mass, has been established. The maneuvering control thrust has been taken into account. The digital simulations under different conditions are implemented. The simulation results show that the closing up movement will occur when the approaching phase startes, which related to the initial velocity of the net. The approaching trace will also depart from the correct trace. These adverse movements must be controlled by the autonomous maneuvering unit. [ABSTRACT FROM AUTHOR]