森 治

In this paper, the dynamics of tethered systems with friction between the tethers and the bodies, as well as impact between the bodies, is investigated. This type of problem occurs during tethered capturing maneuvers such as those previously proposed by the authors to capture and remove the many damaged satellites floating in orbit. The capturing process involves the motion of the capturing device, as well as the ejection, deployment, and wrapping of the tether. Thus, a coupled tether, friction, and impact analysis is required. This paper presents a two-dimensional formulation of the dynamics between a captured target and a tether with load masses at the end of the tether. The tether mass is neglected but the slack in the tether is considered. Furthermore, the impacts between the tether load masses through the tether, as well as between the load mass and the target, are treated using the Lagrange impulse method. During the wrapping process, the dynamic and static friction between the target and the tether are considered.