Derivative Configuration Analysis And Path Planning Of Space In Orbit Truss Cellular Robot

With the rapid development of aerospace technology and robotics technology,space exploration has become a key direction in the development of the aerospace field.Therefore,drawing on self-reconfigurable robotics and swarm robotics technology,space cell robots are applied to space truss in-orbit construction to improve operational ability to adapt to the complex working environment is the mainstream development trend of future aerospace assembly in orbit.Based on the theory of modular unit assembly and multi-level structure of robots,this paper designs four functional modules of cellular robots according to the requirements of space on-orbit tasks,and develops the design of derivative configurations of on-orbit cellular robots for space truss on-orbit operations.This paper analyzes the forward kinematics and inverse kinematics of the cellular robot,completes the kinematic modeling of the cellular robot,and verifies the rationality of the overall configuration of the cellular robot.According to the configuration characteristics of the cellular robot,a module reconstruction path planning method based on the functional module reconstruction platform is proposed to ensure that the cellular robot can be combined and configured according to the requirements of space on-orbit operations.Based on the mathematical model of the modular reconstruction platform,this paper designs a modular reconstruction path planning algorithm,defines the movement priority and collision avoidance criteria of the functional modules in the reconstruction platform,and develops the collaborative path planning of the functional modules.Secondly,for the triangular prism truss structure used in large space facilities,an optimized path planning method based on improved ant colony algorithm is proposed,the mathematical model of the space truss is established,and the global path planning of the cellular robot in the truss space is carried out to ensure that the robot can quickly move from the initial position to the target position,and be able to choose an optimal path that meets the requirements of the work task.Finally,in view of the on-orbit motion requirements of the cellular robot,three motion gaits applied to the space truss are proposed,and the ADAMS virtual prototype technology is used to carry out the gait simulation study of the cellular robot on the orbit truss,and three gaits of the robot in the truss space are obtained.The related kinematic parameter curve under the following verifies the reliability and coordination of the robot’s overall movement process.