Sequence Planning Method for Robotic On-orbit Assemly of Space Truss Structure

被引：0
|
作者：
Luo J.-J. [1 ,2 ]
Wang J.-W. [1 ,2 ]
Wang M.-M. [1 ,2 ]
Liu C. [1 ,2 ]
机构：
[1] Research & Development Institute of Northwestern Polytechnical University in Shenzhen, Shenzhen
[2] School of Astronautics, Northwestern Polytechnical University, Xi'an
来源：
Yuhang Xuebao/Journal of Astronautics | 2021年 / 42卷 / 04期
关键词：
Assembly sequence planning; Discrete particle swarm optimization; On-orbit assembly; Robot; Space truss structure;
D O I：
10.3873/j.issn.1000-1328.2021.04.004
中图分类号：
学科分类号：
摘要：
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. © 2021, Editorial Dept. of JA. All right reserved.
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页码：437 / 449
页数：12
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