Design And Truss Climbing Research Of Cellular Robot In Orbit Truss

With the development of aviation in our country,space exploration will become more and more important.Today,our country has completed the construction phase of the Chinese space station by docking with the core module,the ascent module and the dream module.In the future,more space missions will be proposed,including the construction of space trusses and the installation of external mechanical equipment.Space truss,as the carrier of solar wing and external working robot arm,is large in volume and complex in structure.If the space truss is assembled by astronauts,it will cause personal safety hazard and low assembly efficiency.If the truss is assembled by traditional robotic arm,more kinds and quantities of robotic arm are needed.At the same time,the external mechanical equipment on the space truss also needs a considerable amount of installation resources,using the traditional robotic arm to solve the problem will occupy a large amount of launch space,resulting in the waste of launch resources.Based on the theory of modular robot,this thesis combines the advantages of modular robot with variable configuration and flexibility to perform different tasks.Four cell modules are designed to assemble trusses in orbit.In order to verify the rationality and reliability of cell module structure design,this thesis analyzes the motion error of cell module,obtains the transformation matrix between adjacent modules by positive kinematics,and establishes the error calculation model of cell module by differential equation,which provides the theoretical basis for the subsequent reliability analysis.Then,based on the error model,the Monte Carlo Method is used to establish the reliability calculation model of the cell module by giving any task,and the rationality and reliability of cell module design are verified.In this thesis,we reconstruct the cell module into a 6-DOF orbiting robot,establish the error calculation model of the 6-DOF orbiting robot by using error theory,calculate the inverse kinematics of the robot under the action matrix by using Robotics Toolbox module in MATLAB,and establish the reliability calculation model of the 6-DOF orbiting cell robot by using Monte Carlo Method.Then,in order to reduce the time consumption of the robot moving to the target point on the large space truss,this thesis uses the improved sparrow algorithm to solve the planning problem of the robot moving path.Then,according to the motion requirement of robot on space truss,three kinds of climbing gait are designed,and three kinds of climbing gait are simulated by Adams software.The corresponding motion curves of robot cell module are obtained,and the reliability and coordination of three kinds of climbing gait on truss rod are verified by six degrees of freedom orbiting robot.