Abstract
Aiming at the assembly sequence planning of space truss structure constructed by robot on orbit, a method is proposed to solve the assembly unit sequence and robot motion simultaneously. Firstly, the assembly robot is designed and its dynamic model is established. Secondly, robot motions in the whole assembly process are classified and the planning and control methods are given. Then, the evaluation index of assembly sequence planning is established and is optimized through discrete particle swarm optimization. Finally, simulation of a common spatial truss structure assembly is perfound to verify the effectiveness of the proposed method.
| Translated title of the contribution | Sequence Planning Method for Robotic On-orbit Assemly of Space Truss Structure |
|---|---|
| Original language | Chinese (Traditional) |
| Pages (from-to) | 437-449 |
| Number of pages | 13 |
| Journal | Yuhang Xuebao/Journal of Astronautics |
| Volume | 42 |
| Issue number | 4 |
| DOIs | |
| State | Published - 30 Apr 2021 |