Study On Design And Reconstruction Strategy Of Space Truss Assembly Robot In Orbit

As an indispensable structure to connect space facilities,space truss is an important link in the construction of large space facilities.Due to the limitations of the existing space structure of the on orbit operation robot,it cannot meet the needs of space truss on orbit assembly under complex conditions.Therefore,the design of an on orbit operation robot that meets the task of space truss assembly is of great practical significance for the construction of the space station.Based on the multi-level theory of robot system,this paper innovatively designs four cell modules of space truss on orbit assembly robot,and combines the configuration structure of space truss and the work form of multi robot on orbit collaborative assembly,constructs a variety of robot configuration schemes satisfying the space truss on orbit assembly,so as to improve the work efficiency of robot truss assembly.Secondly,the topological expression method of graph theory is used to mathematically describe the heterogeneous cell unit modules and configuration structure of the robot;and on this basis,the research on the reconstruction strategy of the cell unit module and the robot configuration transformation are carried out through the A* algorithm and the ant colony algorithm respectively,which reveals the motion mechanism of the on orbit derivative changes of the robot,and provides theoretical support for the configuration reconstruction of different on orbit working robots.At the same time,ADAMS virtual prototype technology software is used to perform kinematics simulation analysis on the configuration of a variety of space truss on-orbit assembly robots.Through analysis,during the truss assembly process of the robot,its related trajectory curves of joint trajectory and assembly motion verify the reliability of robot motion performance and the accuracy of truss assembly.Finally,according to the above simulation results,the kinematics experiment platform of the robot is built.By measuring the actual and theoretical position deviation between truss transfer and each joint rotation in the process of truss assembly,compared with the simulation results,the causes of the errors are analyzed,and the influence of robot motion errors and truss assembly accuracy is discussed.The research results of space truss on orbit assembly robot can provide certain technical support for the development of space industry and space facility construction in China.With the continuous progress of space robot technology,greater potential will be exerted in future space on orbit operations tasks.