On-orbit Assembly Robot Configuration Design And Truss Assembly Strategy Research

Large-scale space truss structure is an important component of large-scale spacecraft.It plays an important role in construction,extension,and fixed support in large-scale space missions.The existing on-orbit assembly methods have certain limitations and dangerous.Therefore,the configuration design and motion analysis of the on-orbit assembly robot based on the cell unit of the robot meets the assembly requirements of large space truss structures.The analysis and research on the assembly strategy and dynamic performance of the space truss structure has important practical significance for the construction of the space station and the development of aerospace industry.According to the on-orbit assembly work requirements of the large space truss,this paper carries out the structural design of the robot cell unit,and performs mathematical description and topological expression on it.Apply multi-level theories from cells,tissues,organs to robots and their systems to reconstruct heterogeneous cell units in different numbers,types and configuration relationships.Secondly,according to the structural characteristics of the space truss and the requirements of on-orbit assembly tasks,the configuration design is based on the cell unit structure to achieve the design goal of a 7-degree-of-freedom-like robotic armtype truss on-orbit assembly robot.On the basis of the configuration design,the forward and inverse kinematics of the truss on-orbit assembly robot are solved to understand the posture and angle changes of each joint organization.At the same time,the virtual assembly sequence is used to study the assembly strategy of the periodic module structure of the large space truss structure.Through the assembly task analysis of the target configuration of the quadrangular prism structure,the assembly behavior of the truss on-orbit assembly robot is analyzed and described.The reinforcement learning strategy based on Q learning is used to study the truss assembly strategy of the on-orbit assembly robot.Finally,ADAMS software is used to simulate the kinematics of the robot truss assembly process.Through the analysis of the simulation results,it is verified that the movement law of the truss rod of the robot in the assembly process of the truss structure is stable and meets the design requirements.And use ANSYS software to analyze the dynamics of the truss periodic module structure,and select highperformance truss materials by studying the natural frequency changes of the truss structure under different materials.The modal analysis and research of the large-size space truss structure of three kinds of extended structure design are carried out.For large space trusses,research on cell unit and overall configuration design of on-orbit assembly robots,and truss assembly strategy are carried out,and dynamic performance analysis of on-orbit assembly robots and truss structures has provided certain theoretical basis and technical support for the construction of space stations in my country.