A Study And Design Of Implementation Layer Of The Space Cell Robotic System

Due to the unpredictability of future space tasks and the construction of large space structures,the amount of space tasks will increase dramatically.Therefore,the complex and unpredictable space environment will place a higher demand on the flexibility and reliability of the space operating devices.Traditional extra-vehicular activity(EVA)and the fixed-armed system will find it hard to meet the requirements of these tasks.So,it is necessary to design and develop a multi-robot system with high autonomy,flexibility and reliability to better adapt to the changing space and it is also a hotspot in the field of aerospace engineering.However,as for today's multi-robot systems,including the one for planetary exploration and on-orbit service,most of them are based on the configurable modular robot system at a single level,which can only be used in a particular situation.The limited configuration and poor adaptability of this kind of system will fail to meet the challenge of the future space tasks.Focusing on the demands of future space tasks and the existing problems of the configurative multi-robot system.Firstly,this paper improved the concept of implementation layer in a new space operating system called “Space cell robotic system" proposed by the laboratory,then designed a specific plan for the implementation layer,and determined the hierarchical relationship within the layer and its basic constituent elements.In order to meet the requirements of the implementation layer,Solidworks and kisssoft were used to carry out detailed mechatronic design and planning for the control system.The kinematics and dynamics characteristics of the connection mechanism were analyzed by MATLAB / simulink.According to the requirements of kinematics modeling and dynamics modeling of the robot system,the mathematical description and the mass / inertia parameters description of the modules was made.The forward kinematic modeling based on the Product of Exponential method(POE)and the inverse kinematics solving based on the Modified Genetic Algorithm(MGA)were carried out for the module;Study on dynamic modeling of robot based on the Recursive Newton-Euler method(RNE)helped to complete the overall design of the implementation layer.The kinematics modeling and dynamics modeling are the foundation for the fusion between the implementation layer and other two layers,namely the decision layer and the application layer.