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Acta Aeronautica et Astronautica Sinica

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Configuration optimization method of three-branch robot for truss holding

  

  • Received:2024-08-02 Revised:2024-11-20 Online:2024-12-04 Published:2024-12-04
  • Supported by:
    Motion Planning and Control of Smooth Climbing for Three branch Robot for On-orbit Transportation

Abstract: With the advancement of space exploration and technology, the on-orbit construction of large spacecraft has be-come a key research focus. These spacecraft typically use large space trusses as support structures and rely on space robots to carry out various on-orbit transportation and assembly tasks. Due to the characteristics of the truss structures, which have high flexibility and low damping, vibrations in the truss structure can be easily induced by time-varying dynamics when the space robot climbs and grasps the truss. This can affect the stability of load trans-portation. To address the holding configuration optimization problem for a three-branch-robot climbing a truss, the "truss-three-branch robot" composite system was used as the research object to analyze its contact and collision characteristics. Evaluation metrics for climbing stability, holding balance, and operability were constructed for the holding configuration. The NSGA-II(Non-dominated Sorting Genetic Algorithm-II) multi-objective optimization algo-rithm was used to establish a holding configuration optimization model with the joint angles of the three-branch ro-bot as decision variables. This approach provided an optimized method for holding configuration that balanced con-tact collision excitation suppression, task efficiency, and robot operability. Finally, the effectiveness of this method was evaluated through comparative simulation experiments, offering analytical means and solutions for the smooth planning of truss climbing motions in large spacecraft.

Key words: three-branch robot, large spacecraft climbing, holding configuration optimization, contact impact impulse, multi-objective optimization

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