Design and Control Method of a Reconfigurable Space Truss Assembly Robot

摘要

The paper proposes a reconfigurable space truss assembly robot of 6 degrees of freedom. It can change its degrees of freedom flexibly through assembling with other reconfigurable robots to accomplish the multi-target optimization on the basis of finishing the assembling of the large space truss structure. The PIK algorithm is used to realize different objections' optimization, such as avoiding the singular configurations of robots, minimizing the joint torque and avoiding obstacles and even suppressing vibration of the object operated by robots. The simulation has been done in Matlab/Simulink about the assembly part's translation following the planned route and it also realizes the vibration suppression of the large space truss structure. The result shows that the amplitude of the vibration can reduce to 5.56% and the assembly has sufficient accuracy. The reconfigurable robot and method can apply to the LSTS assembling task on-orbit to realize multi-objective optimization.