An approach to sequence planning for on-orbit assembly of large space truss structures in a multirobot environment is presented.A hierarchical representation of large space truss structures at the structural volume el...An approach to sequence planning for on-orbit assembly of large space truss structures in a multirobot environment is presented.A hierarchical representation of large space truss structures at the structural volume element level and strut level is adopted.The representation of connectivity matrix and directed graph is respectively presented at the strut level and SVE level.The multirobot environment that consists of autonomous space robots and struts is supposed.Then the multirobot serial assembly strategy,assembly states,assembly tasks and assembly sequences are described.The assembly sequence planning algorithms at the strut level and SVE level are respectively discussed.The results of the simulations show that this approach is feasible and efficient.Two extensions of this approach include more accurate assessment of the efficiency representation and improvements in planning algorithm.In the future,the assembly sequence planning of more large space truss structures and complex multirobot environments and assembly tasks will be considered.展开更多
With the rapid development of space technology and the increasing demand for space missions,the traditional spacecraft manufacturing,deployment and launch methods have been unable to meet existing needs.In-space assem...With the rapid development of space technology and the increasing demand for space missions,the traditional spacecraft manufacturing,deployment and launch methods have been unable to meet existing needs.In-space assembly(ISA)technologies can effectively adapt to the assembly of large space structures,improve spacecraft performance,and reduce operating costs.In this paper,the development and technologies for ISA are reviewed.ISA is classified from multiple angles,and the research status of ISA is shown clearly through the visual mapping knowledge domain.Then the development status of autonomous robot assembly in the United States,Europe,Japan,Canada and China is reviewed.Furthermore,the key technologies of ISA are analyzed from three aspects:assembly structure design,robot technologies and integrated management technologies.ISA technologies are still facing major challenges and need to be further explored to promote future development.Finally,future development trends and potential applications of ISA are given,which show that ISA will play a vital role in human space exploration in the future.展开更多
The coupling dynamics problem between the walking robot and large space structures during on-orbit assembly is investigated in this paper.The quadruped walking robot is first chosen as the assembly robot,which is equi...The coupling dynamics problem between the walking robot and large space structures during on-orbit assembly is investigated in this paper.The quadruped walking robot is first chosen as the assembly robot,which is equivalent to a spring-mass-damper system with seven degrees of freedom.The primary goal of the robot is to stably walk on a large space structure while carrying an assembly module to a designated location for assembly.Combining with the characteristic of incrementally increasing of the large space structure,a revival dynamic modeling method is then presented.On this basis,the coupled dynamic model of the robot and the space truss structure is developed.To simulate robot walking,the motion gait of the quadruped walking robot is designed as a diagonal alternating gait.The moving load are considered as disturbance inputs associated with the truss,and an active vibration controller is developed to deal with the disturbance.The numerical simulation of a quadruped walking robot moving on a space truss structure is finally presented with different cases.The results demonstrate that the quadruped walking robot movement has a significant influence on the space truss structure,and the mutual disturbances between the two are effectively suppressed by the proposed controller.展开更多
The shape of a spacecraft is transitioning from monolithic,manual,and static to modular,autonomous,and dynamic.Modular Reconfigurable Spacecrafts(MRSs)offer better solutions than traditional monolithic spacecrafts in ...The shape of a spacecraft is transitioning from monolithic,manual,and static to modular,autonomous,and dynamic.Modular Reconfigurable Spacecrafts(MRSs)offer better solutions than traditional monolithic spacecrafts in several aspects,and may become the next generation of spacecraft systems with efficient design,fast deployment,flexible application,and convenient management.This paper reviews the development and technology of MRS from three aspects:Modularity,reconfigurability,and autonomy.Despite the progress of research on MRS,there is still a lack of unified standards and little understanding of related concepts.Based on the understanding of basic concepts,the studies conducted on MRS are reviewed to identify technical requirements and solutions.Aiming at the future development trend of MRS,a novel modular selfreconfigurable spacecraft,referred to as MagicSat,is proposed.Furthermore,the MagicSat system composition,advantages,and application prospects are studied.The enabling technologies and major challenges of MRS are further analyzed in terms of modularization,integrated management,and self-reconfiguration technologies.Finally,the future development trend of MRS technology is predicted,and corresponding suggestions are provided.展开更多
The attitude control system design and its control effect are affected considerably by the mass-property parameters of the spacecraft. In the mission of on-orbit servicing, as fuel is expended, or the payloads are add...The attitude control system design and its control effect are affected considerably by the mass-property parameters of the spacecraft. In the mission of on-orbit servicing, as fuel is expended, or the payloads are added or removed, the center of mass will be changed in certain axe; consequently, some thrusters＇ directions are deviated from the center of mass（CM） in certain plane. The CM of assembled spacecraft estimation and thruster direction control are studied. Firstly, the attitude dynamics of the assembled spacecraft is established based on the Newton-Euler method. Secondly, the estimation can be identified by the least recursive squares algorithm. Then, a scheme to control the thrusters＇ directions is proposed. By using the gimbal installed at the end of the boom, the angle of the thruster is controlled by driving the gimbal; therefore, thrusters can be directed to the CM again. Finally, numerical simulations are used to verify this scheme. Results of the numerical simulations clearly show that this control scheme is rational and feasible.展开更多
Space deployable antennas are extensively utilized in space-based communication,deep space exploration,and earth observation.As the demands for capacity and data transmission rates in human space-based communi-cation ...Space deployable antennas are extensively utilized in space-based communication,deep space exploration,and earth observation.As the demands for capacity and data transmission rates in human space-based communi-cation continue to rise,the requirement for larger antenna apertures becomes increasingly critical.Traditional single-deployable structures are insufficient to meet these aperture requirements.On-orbit assembled antennas present a viable solution to the challenges associated with folding,transportation,and deployment of large structures,thereby overcoming the aperture limitations inherent in conventional designs.This innovation is particularly pertinent for large aperture space antennas required in space-based communication and related fields.The ability to adjust modules is a foundational aspect of realizing on-orbit assembly antennas.This paper provides a comprehensive review of the current research on module adjustment in space on-orbit assembly antennas.Initially,the existing research landscape of space on-orbit assembly antennas is outlined.Subsequently,the progress made in module adjustment is categorized into two main approaches:inter-module adjustment and self-adjustment of modules.The paper also examines various actuators that can serve as critical components in the design of module adjustment systems.Building upon this analysis,key technologies essential for effective module adjustment are summarized,and future development trends in this area are proposed.展开更多
文摘An approach to sequence planning for on-orbit assembly of large space truss structures in a multirobot environment is presented.A hierarchical representation of large space truss structures at the structural volume element level and strut level is adopted.The representation of connectivity matrix and directed graph is respectively presented at the strut level and SVE level.The multirobot environment that consists of autonomous space robots and struts is supposed.Then the multirobot serial assembly strategy,assembly states,assembly tasks and assembly sequences are described.The assembly sequence planning algorithms at the strut level and SVE level are respectively discussed.The results of the simulations show that this approach is feasible and efficient.Two extensions of this approach include more accurate assessment of the efficiency representation and improvements in planning algorithm.In the future,the assembly sequence planning of more large space truss structures and complex multirobot environments and assembly tasks will be considered.
基金supported in part by National Key R&D Program of China(No.2018YFB1304600)the Natural Science Foundation of China(No.51775541)CAS Interdisciplinary Innovation Team(No.JCTD-2018-11)。
文摘With the rapid development of space technology and the increasing demand for space missions,the traditional spacecraft manufacturing,deployment and launch methods have been unable to meet existing needs.In-space assembly(ISA)technologies can effectively adapt to the assembly of large space structures,improve spacecraft performance,and reduce operating costs.In this paper,the development and technologies for ISA are reviewed.ISA is classified from multiple angles,and the research status of ISA is shown clearly through the visual mapping knowledge domain.Then the development status of autonomous robot assembly in the United States,Europe,Japan,Canada and China is reviewed.Furthermore,the key technologies of ISA are analyzed from three aspects:assembly structure design,robot technologies and integrated management technologies.ISA technologies are still facing major challenges and need to be further explored to promote future development.Finally,future development trends and potential applications of ISA are given,which show that ISA will play a vital role in human space exploration in the future.
基金supported by the National Natural Science Foundation of China(grant numbers 12472049,12232015)Guangdong Basic and Applied Basic Research Foundation(2024A1515010634).
文摘The coupling dynamics problem between the walking robot and large space structures during on-orbit assembly is investigated in this paper.The quadruped walking robot is first chosen as the assembly robot,which is equivalent to a spring-mass-damper system with seven degrees of freedom.The primary goal of the robot is to stably walk on a large space structure while carrying an assembly module to a designated location for assembly.Combining with the characteristic of incrementally increasing of the large space structure,a revival dynamic modeling method is then presented.On this basis,the coupled dynamic model of the robot and the space truss structure is developed.To simulate robot walking,the motion gait of the quadruped walking robot is designed as a diagonal alternating gait.The moving load are considered as disturbance inputs associated with the truss,and an active vibration controller is developed to deal with the disturbance.The numerical simulation of a quadruped walking robot moving on a space truss structure is finally presented with different cases.The results demonstrate that the quadruped walking robot movement has a significant influence on the space truss structure,and the mutual disturbances between the two are effectively suppressed by the proposed controller.
基金supported by the National Defense Science and Technology Innovation Zone of China(No.00205501).
文摘The shape of a spacecraft is transitioning from monolithic,manual,and static to modular,autonomous,and dynamic.Modular Reconfigurable Spacecrafts(MRSs)offer better solutions than traditional monolithic spacecrafts in several aspects,and may become the next generation of spacecraft systems with efficient design,fast deployment,flexible application,and convenient management.This paper reviews the development and technology of MRS from three aspects:Modularity,reconfigurability,and autonomy.Despite the progress of research on MRS,there is still a lack of unified standards and little understanding of related concepts.Based on the understanding of basic concepts,the studies conducted on MRS are reviewed to identify technical requirements and solutions.Aiming at the future development trend of MRS,a novel modular selfreconfigurable spacecraft,referred to as MagicSat,is proposed.Furthermore,the MagicSat system composition,advantages,and application prospects are studied.The enabling technologies and major challenges of MRS are further analyzed in terms of modularization,integrated management,and self-reconfiguration technologies.Finally,the future development trend of MRS technology is predicted,and corresponding suggestions are provided.
基金supported by the National Natural Science Foundation of China(11302010)
文摘The attitude control system design and its control effect are affected considerably by the mass-property parameters of the spacecraft. In the mission of on-orbit servicing, as fuel is expended, or the payloads are added or removed, the center of mass will be changed in certain axe; consequently, some thrusters＇ directions are deviated from the center of mass（CM） in certain plane. The CM of assembled spacecraft estimation and thruster direction control are studied. Firstly, the attitude dynamics of the assembled spacecraft is established based on the Newton-Euler method. Secondly, the estimation can be identified by the least recursive squares algorithm. Then, a scheme to control the thrusters＇ directions is proposed. By using the gimbal installed at the end of the boom, the angle of the thruster is controlled by driving the gimbal; therefore, thrusters can be directed to the CM again. Finally, numerical simulations are used to verify this scheme. Results of the numerical simulations clearly show that this control scheme is rational and feasible.
文摘Space deployable antennas are extensively utilized in space-based communication,deep space exploration,and earth observation.As the demands for capacity and data transmission rates in human space-based communi-cation continue to rise,the requirement for larger antenna apertures becomes increasingly critical.Traditional single-deployable structures are insufficient to meet these aperture requirements.On-orbit assembled antennas present a viable solution to the challenges associated with folding,transportation,and deployment of large structures,thereby overcoming the aperture limitations inherent in conventional designs.This innovation is particularly pertinent for large aperture space antennas required in space-based communication and related fields.The ability to adjust modules is a foundational aspect of realizing on-orbit assembly antennas.This paper provides a comprehensive review of the current research on module adjustment in space on-orbit assembly antennas.Initially,the existing research landscape of space on-orbit assembly antennas is outlined.Subsequently,the progress made in module adjustment is categorized into two main approaches:inter-module adjustment and self-adjustment of modules.The paper also examines various actuators that can serve as critical components in the design of module adjustment systems.Building upon this analysis,key technologies essential for effective module adjustment are summarized,and future development trends in this area are proposed.
