Research On The System Of Cellular Space Robots

With more and more complexity and unpredictability of the astronautical missions, as well as the worsening space environment, the space control mechanism will be required to have higher autonomy, flexibility and reliability for the on-orbit service and planet exploring missions in the future. It is becoming the trend to study the low-cost, replaceable and configuration changeable modular robots. However, currently, most of the modular robots are focusing on homogenous configuration with limited configuration, which cannot deal with very complex situations like astronautical missions. And the reconstruction method is either single-level reconstruction, which requires much higher demand for assistant mechanical arm or relies on human interfering, or self-reconstruction, which is difficult to control in the space. Besides, there is rare research on decision making policy of modular robots based on mission driven. Thus, it makes the robots difficult to adapt in space non-construction environment and unknown missions.Based on the requirements for the future astronautical missions and the problems existing in current research field of space control method and modular robots, this thesis proposes a new space control device called space cell robots. The system structure and core concepts are discussed. The mathematical model is constructed. The auto-generating of kinematic and dynamic functions can be fulfilled. Furthermore, based on this, the decision making policy of configuration of space cell robots based on case-based reasoning(CBR) is discussed.At last, by using MATLAB/SimMechanics, this thesis constructs relevant software platform. Based on the platform, the algorithm of auto-generating of kinematic and dynamic functions of cell robots is verified. And examples of the control of cell robots implementing space on-orbit missions are provided. The decision making policy of the configuration of space cell robots are further analyzed by simulation.