A 3D Bristle Friction Force Model for General Contact Dynamics Modeling and Its Applications In Space Robotics Missions

发布日期：2012-05-02

报告题目

时间

2012-05-23 09:30:00

地点

船建木兰大楼A1002会议室

报告人

New Mexico State University，Ma Ou教授

 

 

主   办:
联系人:	蔡国平，caigp@sjtu.edu.cn

 

Ma Ou教授简介：

Ou Ma received a B.Sc. degree from Zhejiang University in 1982 and a M.Sc. and Ph.D. degrees from McGill University in 1988 and 1991, respectively, all in mechanical engineering with robotics specialty. His research interests are in multibody dynamics, control and robotics mainly for aerospace and biomedical applications. He is currently a tenured full professor and directing three research laboratories at the New Mexico State University. Dr. Ma worked in space industry from 1991 to 2002 as a senior project engineer and R&D technical lead for a number of strategic projects developing space robotics technologies for the Space Shuttles and the International Space Station. He had also participated in several design and concept evaluation projects for satellite on-orbit servicing missions including the Germany-Canada-Russia’s TECSAS and DARPA’s Orbital Express Programs. Dr. Ma is currently leading several multidisciplinary research projects sponsored by NSF, DoD, NASA, and industrial partners. He has authored or co-authored over 100 peer-reviewed publications and several patents. He has also served in the editorial boards of several journals and major conferences.

报告摘要：

This seminar will discuss a 3D bristle friction force model and its applications. The model was developed originally for the purpose of meeting the special need of high-fidelity contact dynamics modelling and simulation for the verification and validation of space robotics systems. The original bristle friction force model is a one-dimensional model, which represents the physical reality for some application cases such as the friction in a single-axis joint but does not accurately represent the friction phenomenon of a general contact between two arbitrary 3D objects where the friction force is a vector rotating in the time-varying common tangential plane of the contacting surfaces. In the 3D bristle friction model, the bristle is modelled as a vector not only stretchable but also rotatable in the 3D space. With such an extension, the resulting model can be used to compute friction forces in both sticking and sliding regimes of a general 3D contact case. Special experiments were designed to demonstrate that the friction model can accurately duplicate experimentally observed frictional behavior such as sliding, sticking and stick-slip. The successful application of the model in numerous simulation cases in support of the development and operations of the space robotics systems for the International Space Station and a few other space missions speaks itself about the usefulness and effectiveness of the model. Some examples of such applications will be presented.