ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Configuration optimization method of three-branch robot for truss holding
Received date: 2024-08-01
Revised date: 2024-08-27
Accepted date: 2024-11-18
Online published: 2024-12-04
Supported by
National Natural Science Foundation of China(62103058)
With the advancement of space exploration and technology， the on-orbit construction of large spacecraft has become 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 transportation. To address the holding configuration optimization problem for a three-branchrobot 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 algorithm was used to establish a holding configuration optimization model with the joint angles of the three-branch robot as decision variables. This approach provided an optimized method for holding configuration that balanced contact 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.
Yifan WANG , Xiyun GUO , Shiyuan JIA , Gang CHEN , Mo REN . Configuration optimization method of three-branch robot for truss holding[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2025 , 46(7) : 431033 -431033 . DOI: 10.7527/S1000-6893.2024.31033
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