Research On On-orbit Path Planning And Transitional Climbing Of Cellular Robot

Nowadays,astronautical technology has been in an important strategic position for the development of various countries.With the rapid development of robot technology,it is an inevitable trend to use robot technology for space exploration.Therefore,combining self-reconfigurable robot technology and swarm robot technology,applying multi-configuration cellular robot in space work tasks through on-orbit assembly to improve the compatibility of working environment and work efficiency,is the mainstream trend of future astronautical technology development.Firstly,based on the modular theory and multi-level structure design theory,according to the requirements of space on-orbit operation,four cell units and the reconstruction platform structure for cell units assembly are designed.According to the task types of cellular robot,the configuration design and analysis of cellular robot are carried out,and the kinematics modeling is completed.The forward kinematics and inverse kinematics analysis of cellular robot are carried out to verify the rationality of the configuration of cellular robot,which provides a theoretical basis for the analysis of the transitional climbing ability of cellular robot.Secondly,for the triangular prism truss structure applied to large space facilities,a mathematical model is established to carry out the global path planning in the space truss of cellular robot.An optimized gravitational search algorithm is proposed to improve the solution accuracy and ensure that the cellular robot moves quickly from the initial position to the target position.Thirdly,in order to ensure the cell robot can move smoothly to the target position,the transitional climbing ability between the truss rods is analyzed,and the grasping force closure analysis of the grip part of the cell robot is carried out.The grasping force calculation model under static and dynamic conditions is proposed to verify the grasping reliability of the cell robot and provide theoretical support for the safe climbing of the robot.Finally,according to the configuration characteristics of the cellular robot,three climbing gaits applied to the space truss are proposed.The ADAMS virtual prototype technology is used to carry out the gait simulation of the cellular robot,and the power consumption curves of the key joints of the cellular robot during the three gaits are obtained to verify the rationality and security of the gait design of the cellular robot.