航空学报2025，Vol.46Issue(7)：317-330,14.DOI:10.7527/S1000-6893.2024.31033
面向桁架抓持的三分支机器人构型优化方法
Configuration optimization method of three-branch robot for truss holding
摘要
Abstract
With the advancement of space exploration and technology,the on-orbit construction of large spacecraft has become a key research focus.These spacecraft typically use large space trusses as support structures and rely on space robots to carry out various on-orbit transportation and assembly tasks.Due to the characteristics of the truss structures,which have high flexibility and low damping,vibrations in the truss structure can be easily induced by time-varying dynamics when the space robot climbs and grasps the truss.This can affect the stability of load transportation.To address the holding configuration optimization problem for a three-branchrobot climbing a truss,the"truss-three-branch robot"composite system was used as the research object to analyze its contact and collision characteristics.Evaluation metrics for climbing stability,holding balance,and operability were constructed for the holding configura-tion.The NSGA-Ⅱ(Non-dominated Sorting Genetic Algorithm-Ⅱ)multi-objective optimization algorithm was used to establish a holding configuration optimization model with the joint angles of the three-branch robot as decision vari-ables.This approach provided an optimized method for holding configuration that balanced contact collision excitation suppression,task efficiency,and robot operability.Finally,the effectiveness of this method was evaluated through comparative simulation experiments,offering analytical means and solutions for the smooth planning of truss climbing motions in large spacecraft.关键词
三分支机器人/大型航天器攀爬/抓持构型优化/接触碰撞冲量/多目标优化Key words
three-branch robot/large spacecraft climbing/holding configuration optimization/contact impact im-pulse/multi-objective optimization分类
航空航天引用本文复制引用
王一帆,郭喜云,贾世元,陈钢,任默..面向桁架抓持的三分支机器人构型优化方法[J].航空学报,2025,46(7):317-330,14.基金项目
国家自然科学基金(62103058) National Natural Science Foundation of China(62103058) （62103058）
