Modeling and Dynamic Characteristic Analysis of Space Robotic Cables (Flexible Bodies)

Space robotic cables are responsible for the transmission of load data and power at the end of robots. They are mounted on the space robot bodies and will move along with the robot bodies. In the extreme environment of coupling of high and low temperatures, radiation and microgravity in space, the cables covered by shielding layers will become extremely heavy and hard, while the joints of space robots under strict resource constraints are relatively weak. In the course of motion, heavy cables will cause strong non-linear interference to weak joints of space robots, leading to slow rotation or oscillation of joints at specific locations. Studying the physical characteristics of space cables, the mechanical properties of space robotic joints and their coupling relationship is of great significance to improve the accuracy and stability of space robots' terminal operation. In this paper, the mathematical model of space robotic cables is numerically verified and theoretically analyzed, which proves the validity and rationality of the proposed model.