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
Profile:The Youjia'ao Community Center project in Nanjing represents a pioneering revitallzatlon practice of the Nanjing Compressor Factory industrial heritage,exploring an innovative renewal model that integrates...Profile:The Youjia'ao Community Center project in Nanjing represents a pioneering revitallzatlon practice of the Nanjing Compressor Factory industrial heritage,exploring an innovative renewal model that integrates industrial relics with community life.Designated as a CategoryⅡIndustrial Heritage in Nanjing,the factory site retains its original industrial typology and distinctive architectural features,Including arched curved space truss structures.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.
文摘Profile:The Youjia'ao Community Center project in Nanjing represents a pioneering revitallzatlon practice of the Nanjing Compressor Factory industrial heritage,exploring an innovative renewal model that integrates industrial relics with community life.Designated as a CategoryⅡIndustrial Heritage in Nanjing,the factory site retains its original industrial typology and distinctive architectural features,Including arched curved space truss structures.
