TY - JOUR
T1 - Design and Dynamic Simulation Verification of an On-Orbit Operation-Based Modular Space Robot
AU - Yang, Dong
AU - Yue, Xiaokui
AU - Guo, Ming
N1 - Publisher Copyright:
© 2023 by the authors.
PY - 2023/12
Y1 - 2023/12
N2 - Space robots have been playing an important role in space on-orbit operation missions. However, the traditional configuration of space robots only has a single function and cannot meet the requirements of different space missions, and the launch cost of space robots is very high. Thus, the reconfigurable modular space robot system that can carry multiple loads and own mission adaptability is of great significance. Based on the analysis of a robot space mission, combined with the existing reconfigurable robots, this paper develops a configuration design scheme for a modular reconfigurable space robot, and carries out the prototype design. According to the configuration characteristics of the module, the dynamic modeling of the space robot is based on the graph theory analysis and principle of virtual work. Related application scenarios are set up. Function and feasibility of the dynamic modeling methods are verified through assembly experimentation and dynamic simulation.
AB - Space robots have been playing an important role in space on-orbit operation missions. However, the traditional configuration of space robots only has a single function and cannot meet the requirements of different space missions, and the launch cost of space robots is very high. Thus, the reconfigurable modular space robot system that can carry multiple loads and own mission adaptability is of great significance. Based on the analysis of a robot space mission, combined with the existing reconfigurable robots, this paper develops a configuration design scheme for a modular reconfigurable space robot, and carries out the prototype design. According to the configuration characteristics of the module, the dynamic modeling of the space robot is based on the graph theory analysis and principle of virtual work. Related application scenarios are set up. Function and feasibility of the dynamic modeling methods are verified through assembly experimentation and dynamic simulation.
KW - dynamic analysis
KW - reconfigurable modular robot
KW - space robot
UR - http://www.scopus.com/inward/record.url?scp=85192501713&partnerID=8YFLogxK
U2 - 10.3390/app132312949
DO - 10.3390/app132312949
M3 - 文章
AN - SCOPUS:85192501713
SN - 2076-3417
VL - 13
JO - Applied Sciences (Switzerland)
JF - Applied Sciences (Switzerland)
IS - 23
M1 - 12949
ER -