SUMMARYA dual-arm space robot has large potentials in on-orbit servicing. However, there exist multiple dynamic coupling effects between the two arms, each arm, and the base, bringing great challenges to the trajectory planning and dynamic control of the dual-arm space robotic system. In this paper, we propose a dynamic coupling modeling and analysis method for a dual-arm space robot. Firstly, according to the conservation principle of the linear and angular momentum, the dynamic coupling between the base and each manipulator is deduced. The dynamic coupling factor is then defined to evaluate the dynamic coupling degree. Secondly, the dynamic coupling equations between the two arms, each arm, and the base are deduced, respectively. The dynamic coupling factor is suitable not only for single-arm space robots but also for multi-arm space robot systems. Finally, the multiple coupling effects of the dual-arm space robotic system are analyzed in detail through typical cases. Simulation results verified the proposed method.

中文翻译：

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双臂空间机器人系统多动力耦合效应建模与分析

摘要双臂空间机器人在在轨服务方面具有巨大潜力。然而，两臂、各臂与基座之间存在多重动态耦合效应，给双臂空间机器人系统的轨迹规划和动态控制带来了巨大挑战。在本文中，我们提出了一种双臂空间机器人的动态耦合建模和分析方法。首先，根据线动量和角动量守恒原理，推导出底座与各机械臂之间的动态耦合。然后定义动态耦合因子以评估动态耦合程度。其次，分别推导了两臂、各臂和底座之间的动力耦合方程。动态耦合因子不仅适用于单臂空间机器人，也适用于多臂空间机器人系统。最后通过典型案例详细分析了双臂空间机器人系统的多重耦合效应。仿真结果验证了所提出的方法。