双臂空间机器人可操作度分析及其构型优化

利用传统的操作度概念，分析多臂空间机器人的可操作度，特别是基座和辅助臂的耦合效应对任务机械臂的操作度的影响。进而利用基座姿态最小扰动和可操作度指标对多臂机器人机械臂的构型进行优化。最后对平面双臂空间机器人进行数值仿真，并分析耦合效应对可操作度的影响以及在多臂构型优化中的应用。仿真结果表明本文的研究方法及结果可指导在轨服务中的近距离双臂协调交会、软对接和抓捕操作，具有较强的工程应用价值。

Manipulability Measure of a Dual Arm Space Robot and Its Application to Configuration Optimization

In the paper, the traditional concept of manipulability measure is applied to analyze the manipulability measure of a dual-arm space robot, especially for the manipulability measure of the mission arm subjecting to the influence from the coupling effect of auxiliary arms and the base. And based on the minimum attitude disturbance of the base and the manipulability measure of the mission arm, the configuration of the dual-arm space robot is optimized. Finally, a plane dual-arm space robot is simulated, and the simulations illustrate the manipulability measure affected by coupling effect and its application for configuration optimization for this robot. The simulation results show that the proposed manipulability measure and optimal configuration can be extended and applied to the coordinated soft rendezvous and docking, and capturing an object in the field of on-orbit servicing, which has high engineering values.