Effects of Clearance on Space Manipulator

In order to investigate the effects of joint clearance and flexibility on dynamic behavior of space manipulator, the rigidflexible coupling models are built on twodegreeoffreedom planar manipulator and sevendegreeoffreedom space manipulator. Furthermore, dynamic amylases of these two models are applied using a nonlinear elasticdamper model of the clearance connections. The effects of the clearance and structure flexibility are discussed detailed. The results show that arm flexibility has a little effect on displacement; however the oscillation of angular velocity and angular acceleration areincreasing with the increasing flexibility. Due to the clearance, the impact changes the dynamic characteristics of space manipulator. Kinematic accuracy decreases and the oscillation of angular velocity and angular acceleration increase with the increasing clearance.