Research On Kinematics And Dynamics For Free-floating Space Parallel Robot

With the continuous development of space technology, space robot is playing a increasingly prominent role in on-orbit service. The application of space robot can save the cost, improve working efficiency. Because of its low energy consumption and long life, free-floating space robot, as a type of space robot, has broad application prospects in space on-orbit service.Satellite is the carrier of parallel robot in free-floating space robot, and its position and orientation in free-floating state when grabbing target. This paper studied the features of free-floating space parallel robot. The specific contents are as follows:According to the basics of parallel mechanism and the characteristics of space robot, the kinematics equations of free-floating space parallel robot were established for studying the differences of the space robot’s kinematics characteristics between in base-fixed and base-free-floating conditions. Through the application of equations to 6-SPS parallel robot, its correctness was verified by softwares.Kinematics visual simulation of free-floating space parallel robot was developed. The simulation showed the space robot’s movement characteristics intuitively and vividly.By use of Lagrange formulation and kinematics theory, Dynamic equations of free-floating space parallel robot were established in inertial system. Dynamics analysis software was adopted to analyze the differences of robot’s dynamics properties in gravity and free-floating conditions.Aiming at rendezvous path of free-floating space parallel robot, the path planning method to ensure safe approaching space target was proposed. The method realized that the space robot approached target in free floating work mode and without collision. And the path of actuator was planned, which enabled actuator to catch target successfully.For the captured target docking problem, the return path planning of free floating space robot based on genetic algorithm was proposed. The method could make the attitude of carrier recovered to the desired state while the space target reached the specified location.