{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,5,13]],"date-time":"2025-05-13T21:57:33Z","timestamp":1747173453267,"version":"3.40.5"},"reference-count":25,"publisher":"Cambridge University Press (CUP)","issue":"11","license":[{"start":{"date-parts":[[2023,8,14]],"date-time":"2023-08-14T00:00:00Z","timestamp":1691971200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2023,11]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Space manipulators are typically installed on spacecraft using an emergency separation device (ESD). In the event of a malfunction, the ESD ejects the manipulator from the spacecraft. However, due to the relative rotation of the manipulator\u2019s joints during the ejection, the equivalent ejection mass varies depending on different attitudes. This paper focuses on studying manipulators equipped with separation slide rails and analyzes their ejection characteristics under different attitudes to determine the optimal manipulator attitude for ejection. Initially, the ejection dynamics model of the space manipulator is established using the Lagrangian method, based on the kinetic energy equation, kinematics equation, and the boundary condition between the manipulator and ESD. Afterward, the space dynamics model is transformed into the dynamic model of plane ejection state by recursion formula. From this model, the equivalent ejection mass and ejection velocity are obtained, and the joint angular variation during ejection is acquired by considering joint friction torque. Using the law of conservation of angular momentum, the ejection angular velocity is then calculated. Finally, this study selected a 7-DOF space manipulator as an example and adjusted the damping parameter<jats:italic>B<\/jats:italic>of the joint for more precise calculations by choosing the attitude with a relatively larger joint angular variation. The modified model was then tested for its applicability to other attitudes. After determining the value of<jats:italic>B<\/jats:italic>, the correctness of the algorithm was validated by MATLAB calculation, ADAMS simulation, and real object ejection test.<\/jats:p>","DOI":"10.1017\/s0263574723000747","type":"journal-article","created":{"date-parts":[[2023,8,14]],"date-time":"2023-08-14T07:47:30Z","timestamp":1691999250000},"page":"3252-3274","source":"Crossref","is-referenced-by-count":1,"title":["Emergency ejection characteristics of space manipulator multi-body system"],"prefix":"10.1017","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3689-5611","authenticated-orcid":false,"given":"He","family":"Cai","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yanbo","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Songbo","family":"Deng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tao","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2023,8,14]]},"reference":[{"key":"S0263574723000747_ref1","first-page":"1","article-title":"Prospect of airline-flight-mode aerospace transportation system","volume":"5","author":"Bao","year":"2021","journal-title":"Astronaut. Syst. Eng. Technol."},{"key":"S0263574723000747_ref6","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714002495"},{"key":"S0263574723000747_ref15","doi-asserted-by":"crossref","unstructured":"[15] Yoshida, K. and Sashida, N. , \u201cModeling of impact dynamics and impulse minimization for space robots,\u201d In: IEEE\/RSJ Intemational Conference on Intelligent Robots and Systems (IEEE, 1993) pp. 2064\u20132069.","DOI":"10.1109\/IROS.1993.583915"},{"key":"S0263574723000747_ref17","doi-asserted-by":"crossref","first-page":"1005","DOI":"10.2514\/1.34437","article-title":"Automatic mass balancing of air-braing-baesd three-axis rotational spacecraft simulator","volume":"32","author":"Jae","year":"2009","journal-title":"J. Guid. Control Dyn."},{"key":"S0263574723000747_ref11","first-page":"503","article-title":"Research on separation strategy and deployment dynamics of a space multi-rigid-body system","volume":"52","author":"Luo","year":"2020","journal-title":"Chin. J. Theor. Appl. Mech."},{"key":"S0263574723000747_ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2019.03.026"},{"volume-title":"Non-liner Dynamic Research of Cubesats On-Orbit Deployment","year":"2017","author":"Zhang","key":"S0263574723000747_ref10"},{"key":"S0263574723000747_ref9","first-page":"954","article-title":"Study on on-orbit dynamic simulation of space docking mechanism separation","volume":"26","author":"Zhang","year":"2014","journal-title":"J. Syst. Simul."},{"key":"S0263574723000747_ref20","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(02)00030-7"},{"key":"S0263574723000747_ref4","unstructured":"[4] Jiang, C. , Wang, Z. K. and Zhang, Y. L. , \u201cStudy of on-orbit separation schemes for configuration initialization of fractionated spacecraft cluster flying,\u201d In: Proceedings of the 1st IAA Conference on Dynamics and Control of Space Systems (2012) pp. 1436\u20131448."},{"key":"S0263574723000747_ref24","doi-asserted-by":"publisher","DOI":"10.3724\/SP.J.1218.2010.00432"},{"key":"S0263574723000747_ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2018.02.013"},{"key":"S0263574723000747_ref16","first-page":"3739","article-title":"Research on performance validation of aircraft based on air-table","volume":"30","author":"Zhang","year":"2018","journal-title":"J. Syst. Simul."},{"key":"S0263574723000747_ref7","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574715000740"},{"key":"S0263574723000747_ref3","first-page":"3382","article-title":"Angular velocity depressing method of constrained and centroid biased on-orbit separation","volume":"36","author":"Jiang","year":"2015","journal-title":"Acta Aeronaut. Astronaut. Sin."},{"key":"S0263574723000747_ref8","first-page":"239","article-title":"Dynamics analysis of the spatial catapult separation problem","volume":"32","author":"Wang","year":"2014","journal-title":"Flight Dyn."},{"key":"S0263574723000747_ref14","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574721000734"},{"key":"S0263574723000747_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/70.768186"},{"key":"S0263574723000747_ref5","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574720001447"},{"key":"S0263574723000747_ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.apm.2020.09.017"},{"key":"S0263574723000747_ref19","doi-asserted-by":"publisher","DOI":"10.1016\/j.apm.2014.09.030"},{"key":"S0263574723000747_ref12","doi-asserted-by":"publisher","DOI":"10.2514\/1.G003987"},{"key":"S0263574723000747_ref22","first-page":"160","article-title":"Analytical solution for vibration system with time-varying mass","volume":"27","author":"Zhu","year":"2008","journal-title":"J. Vibr. Shock"},{"key":"S0263574723000747_ref2","first-page":"215","article-title":"Spacecraft docking and capture technology: Review","volume":"57","author":"Wang","year":"2015","journal-title":"Chin. J. Mech. Eng."},{"key":"S0263574723000747_ref25","doi-asserted-by":"publisher","DOI":"10.2514\/1.35188"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574723000747","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,10,26]],"date-time":"2024-10-26T03:44:29Z","timestamp":1729914269000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574723000747\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,8,14]]},"references-count":25,"journal-issue":{"issue":"11","published-print":{"date-parts":[[2023,11]]}},"alternative-id":["S0263574723000747"],"URL":"https:\/\/doi.org\/10.1017\/s0263574723000747","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2023,8,14]]}}}