Capturing dynamics and experiment of the space large end effector

In this paper, a dynamics model of the rope is built by using the 6 dimensional spring flexible connection based on the discretization method, both nonlinear contact force and friction force between the rope and the target are introduced to obtain the capturing dynamics model of the end effector, and the end impact capture test is designed to prove the correctness of the dynamics model. This model fully considers the space motion state of rope and the process of contact-impact between the wire rope and the target. Because the model has the ability to predict and prevent the impact brought by the capturing process, it is not only a meaningful exploration in design of mechanism and controller, but also an effective supplement for the physical experiment to solve the problem that it is difficult to do the ground test of the space large target capturing task of China in the future.