Research On Dynamics And Trajectory Planning Of Self-reconfigurable Muti-arm Space Robot

With the development of space technology, all kinds of large and super largespacecraft will be launched to satisfy the growing demands of space exploration. Due tothe limit of the dimension and mass, future large spacecrafts, and so on, must beassembled on orbit. However, the on-orbit assembly has been carried out in practice,which is mainly rely on astronaut to complete extravehicular task. But astronautscomplete assembly tasks, which is costly and extremely dangerous, so space robot willplay the most important role on the future on-orbit assembly task. The single-arm spacerobot limited by its own structure, it can complete some tasks which given task or clearand fixed occasion. The space robot can't finish task when it faces to unpredictable orthe changing mission. So we need some different kinds of kinematic and dynamic robot,if solve that problem on this way is cost much money and even impossible. This thesiswill focus on resolving some meaningful things, which include variable topologydynamics modeling, reconfigurable trajectory planning and parameter identification ofthe spacecraft operation on orbit.The dynamic process of spacecraft capturing is very complex. In order to completevariable task, we must build a dynamic model which includes variable kinds workingmode. The topologies of different working mode of the space robot were describedusing incidence and channel matrixes. The space robot through changing incidence andchannel matrixes when it changing working mode. Then, the recursive equations areformulated based on the kinematic relations above. Based on the dynamic mathematicalmodel, the dynamics simulation C program is developed to meet the requirements ofreal-time control. The dynamic calculation C program is also verified by ADAMSmodels and the results prove the correctness of the C program.Path planning with multi-task is very cumbersome. If we program C codeaccording each task, it increased amount of work and improved the demand of hardware.In order to improve utilization efficiency of the space robot, we classified the spacemissions and merged redundant parts. The redundant part is made into module. If thespace robot receives an unknown task, which is can be disassembled by robot. Thespace robot uses the existing modules to complete the unknown task. After classified ofspace task, the reconfigurable path planning simulation based on integrated simulationplatform of OSG and verified the method is effective.When the space robot receives mission, especially the task under unknown thedynamic parameter of space target, it is more difficult for space robot to accurate finishthe mission. Hence, identify dynamic parameter of space robot is very meaningful. The objective function is implemented in Matlab using momentum and angular momentumconservation of space system. Then identify dynamic parameter of system based onPSO method.