Dynamic Modeling and Control for a Deployable Grasping Manipulator

This paper presents a special type of truss-shaped deployable grasping manipulator (DGM) that is suitable for grasping the large-scale objects, but its dynamic modeling is a challenging task because of its multiple closed-loop structures. To address this issue, an iterative dynamic modeling approach is proposed. First, the mechanism structure of the DGM is introduced. Second, the kinematics of the basic deployable parallel mechanism unit with scissor-shaped elements is established, and then, its deployment dynamics are modeled based on the Lagrange method. Third, an iterative dynamic modeling approach for the DGM is proposed to realize the real-time computation based on the recursive Newton-Euler method. Then, a controller with the desired feedforward dynamic compensation for the DGM is proposed to improve the control performance in comparison with the one without feedforward. Finally, experiments are completed to verify the proposed controller on a DGM, and experimental results show that the proposed controller is effective.