空间细胞机器人面向桁架在轨攀爬步态分析

面向空间在轨装配维修过程中的攀爬移动问题，基于空间细胞机器人(CSR)理念，提出连接细胞、转动细胞、末端执行细胞三种基本细胞单元。利用图论和拓扑学原理，在关联矩阵的基础上进行改进得到一种细胞迁移矩阵，直观准确地表达细胞机器人任意构型，以及不同节点之间的组织迁移过程。考虑桁架应用环境和细胞机器人自身的特点，划分出三种广义双杆攀爬工况，能够覆盖所有桁架攀爬任务需求。利用基于旋量理论的指数积公式进行不失一般性运动学分析。基于一致性、重复性以及无干涉原则，针对每种攀爬工况提出相应的攀爬步态，进行数值仿真分析，对比不同步态细胞机器人的关节力矩、能耗以及末端轨迹所占据工作空间等参数。仿真结果对空间机器人在轨攀爬路径规划以及控制方式的研究具有重要理论意义和工程价值。

Gait Analysis of Cellular Space Robot for On Orbit Climbing Truss#br#

Aiming at the problem of climbing and moving in the process of space on-orbit assembly and maintenance, three elementary cells, i.e. junctional cell, rotational cell and end-effector cell, are proposed based on the concept of cellular space robot (CSR). In addition, in order to intuitively and accurately express the arbitrary configuration and tissue migration process of CSR, the cell migration matrix is obtained by improving the incidence matrix and using the graph theory and topology. Then, three generalized two-bar climbing conditions are summarized by considering the application environment of the truss and the characteristics of CSR. Further, the kinematics model is established by the exponential product formula based on the screw theory. And the climbing gaits are proposed for each climbing condition by employing the principles of consistency, repeatability and non-interference. Finally, the joint torque, energy consumption and the workspace occupied by the end trajectory of CSR with different gaits are analyzed and compared by numerical simulation. The results have important theoretical significance and engineering value for the research of climbing path planning and control mode of space robot.