Bibliographic Details
| Title: |
Dynamics modeling and trajectory planning of manipulators on flexible structures for in-space assembly. |
| Authors: |
Yang, Shuji1,2 (AUTHOR), Zhang, Chen2 (AUTHOR), Wen, Hao1,2 (AUTHOR) wenhao@nuaa.edu.cn |
| Source: |
Acta Astronautica. Aug2026, Vol. 245, p83-95. 13p. |
| Subject Terms: |
*Manipulators (Machinery), *Flexible structures, *Surrogate-based optimization, *Trajectory optimization, *Dynamic simulation, *Orbital assembly of space vehicles |
| Abstract: |
The construction of an ultra-large space structure necessitates advanced in-space assembly strategies. Due to dynamics coupling, a manipulator on the structure induces non-negligible disturbance on the base satellite and flexible structures during assembly operations. With help of the Geometric Variable Strain (GVS) approach, the coupled dynamic model of the manipulator and the flexible structure is established. Both the rigid movements and the flexible deformation are considered as the generalized coordinates represented by the strain. Based on the dynamic model, this paper presents a trajectory planning scheme for the manipulator on the flexible structure to optimize the dynamic response of the system during assembly. Furthermore, to assemble the modular component to the structure with a minor disturbance, this work improves the trajectory of the manipulator in the two-stage assembly scheme. Accordingly, a trajectory planning scheme combining inverse kinematics and quintic polynomials is proposed for a six-degree-of-freedom robotic manipulator and then solved via nonlinear optimization. Finally, numerical simulations are carried out to validate the dynamic model and trajectory planning scheme. • A recursive dynamic model for a rigid and flexible coupling system is developed with the exponential product formula. • A trajectory is planned via Bayesian optimization to minimize dynamic disturbances to base structures during assembly. • The recursive dynamic model and the trajectory planning strategy for assembly are validated through numerical simulations. [ABSTRACT FROM AUTHOR] |
| Database: |
Academic Search Index |