Dynamics modelling and path optimization for the on-orbit assembly of large flexible structures using a multi-arm robot

TL;DR

This paper develops a comprehensive modeling and path optimization framework for on-orbit assembly of large flexible structures using a multi-arm robot, addressing dynamic coupling and stability challenges during assembly.

Contribution

It introduces a novel methodology for modeling dynamic interactions and a path optimization algorithm tailored for flexible structure assembly in space.

Findings

Effective modeling of changing inertia and flexibility.

Successful path optimization for stability and performance.

Validated results demonstrating the approach's effectiveness.

Abstract

This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility throughout the mission, addressing the problem of coupling dynamics between the robot and the evolving flexible structure during the assembly phase. A three-legged walking robot is responsible for building the structure, with its primary goal being to walk stably on the flexible structure while picking up, carrying and assembling substructure components. To accurately capture the dynamics and interactions of all subsystems in the assembly scenario, various linear fractional representations (LFR) are developed, considering the changing geometrical configuration of the multi-arm robot, the varying flexible dynamics and uncertainties. A path optimization algorithm is proposed for the multi-arm robot, capable of selecting trajectories based on various cost functions related to different performance and stability metrics. The obtained results demonstrate the effectiveness of the proposed modeling methodology and path optimization algorithm.