迈向用于研究航天器与碎片碰撞的可泛化仿真框架
Towards a generalizable simulation framework to study collisions between spacecraft and debris
AI总结：
本文提出利用计算机代数系统生成符号模型的可泛化仿真框架，以支持新型空间机器人建模，并用于研究航天器与碎片碰撞动力学。
摘要：
近年来，刚体系统的计算机仿真器已被成功用于改进和拓展新型空间机器人的开发领域，成为对空间机器人任务进行初步研究与评估的主要工具。然而，性能方面令人瞩目的进展尚未与建模能力的提升相匹配；建模能力仍局限于对真实系统的非常基础的表示。我们提出一种用于含碰撞多体动力学建模与仿真的新方法，该方法利用由计算机代数系统（CAS）生成的符号模型。尽管其他领域中关于接触动力学的类似研究会利用常见多体系统（例如工业机械臂、仿人机器人和轮式机器人）的既有模型，但我们的重点在于使研究人员能够为不那么常见或尚未制造出来的新型系统设计开发模型，例如小型航天器机械臂。在本文中，我们展示了本方法在研究航天器—碎片碰撞动力学方面的实用性。
英文摘要：
In recent years, computer simulators of rigid-body systems have been successfully used to improve and expand the field of developing new space robots, becoming a leading tool for the preliminary investigation and evaluation of space robotic missions. However, the impressive progress in performance has not been matched yet by an improvement in modelling capabilities, which remain limited to very basic representations of real systems. We present a new approach to modelling and simulation of collision-inclusive multibody dynamics by leveraging symbolic models generated by a computer algebra system (CAS). While similar investigations into contact dynamics on other domains exploit pre-existing models of common multibody systems (e.g., industrial robot arms, humanoids, and wheeled robots), our focus is on allowing researchers to develop models of novel designs of systems that are not as common or yet to be fabricated: e.g., small spacecraft manipulators. In this paper, we demonstrate the usefulness of our approach to investigate spacecraft-debris collision dynamics.
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