Post-capture Angular Momentum Management of Space Robot with Controllable Damping Joints

Aiming at the problems of combination instability and momentum wheel overrun caused by angular momentum transfer after capturing the target in orbit, a method of combination angular momentum management based on controllable electromagnetic damper at joint is proposed. Firstly, based on the Kane method, the combination dynamics equations of space robot base, manipulators with controllable damping joints and target spacecraft are established. Then the structural model of the electromagnetic damper is modeled and the output characteristics and parameters of the damper are studied by analytical calculation. Finally, the simulation of ADAMS verifies the effectiveness of this method in reducing the spin-axis angular momentum of the space combination.