Dynamics Modeling and Configuration Optimization of a Flexible Transportation System Using Two Space Robots

IF 5.7 2区计算机科学 Q1 ENGINEERING, AEROSPACE IEEE Transactions on Aerospace and Electronic Systems Pub Date : 2024-12-16 DOI:10.1109/TAES.2024.3509829

Yinbo Zhang;Shiyuan Jia;Gang Chen;Ti Chen;Yifan Wang

{"title":"Dynamics Modeling and Configuration Optimization of a Flexible Transportation System Using Two Space Robots","authors":"Yinbo Zhang;Shiyuan Jia;Gang Chen;Ti Chen;Yifan Wang","doi":"10.1109/TAES.2024.3509829","DOIUrl":null,"url":null,"abstract":"Space robots have been considered vehicles for the assembly of large spacecraft. Space robots offer the advantage of transporting modular structures to the target positions. This article investigates the dynamics and configuration optimization of a transportation system that contains two space robots and a flexible structure. The assumed mode method is employed to describe the vibration of the flexible structure, while the dynamics is modeled by the Kane method. Based on the dynamic model, a comprehensive performance index incorporating energy consumption and vibration amplitude is proposed to optimize the capture positions of the end-effectors and the configuration of each space robot on the flexible structure. The particle swarm optimization algorithm is adopted to solve the optimization problem. Various cases involving two transportation directions, four configurations of robot manipulators, and two magnitudes of vibration amplitude metrics are investigated. Numerical simulations are conducted to verify the feasibility of the optimized placement.","PeriodicalId":13157,"journal":{"name":"IEEE Transactions on Aerospace and Electronic Systems","volume":"61 2","pages":"4685-4696"},"PeriodicalIF":5.7000,"publicationDate":"2024-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Aerospace and Electronic Systems","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10804223/","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, AEROSPACE","Score":null,"Total":0}

引用次数: 0

Abstract

Space robots have been considered vehicles for the assembly of large spacecraft. Space robots offer the advantage of transporting modular structures to the target positions. This article investigates the dynamics and configuration optimization of a transportation system that contains two space robots and a flexible structure. The assumed mode method is employed to describe the vibration of the flexible structure, while the dynamics is modeled by the Kane method. Based on the dynamic model, a comprehensive performance index incorporating energy consumption and vibration amplitude is proposed to optimize the capture positions of the end-effectors and the configuration of each space robot on the flexible structure. The particle swarm optimization algorithm is adopted to solve the optimization problem. Various cases involving two transportation directions, four configurations of robot manipulators, and two magnitudes of vibration amplitude metrics are investigated. Numerical simulations are conducted to verify the feasibility of the optimized placement.

查看原文

微信好友朋友圈 QQ好友复制链接

本刊更多论文

使用两个空间机器人的柔性运输系统的动力学建模和配置优化

空间机器人一直被认为是组装大型航天器的工具。空间机器人具有将模块化结构运送到目标位置的优势。本文研究了包含两个空间机器人和一个柔性结构的运输系统的动力学和构型优化。采用假设模态法描述柔性结构的振动，采用凯恩法对柔性结构进行动力学建模。在动力学模型的基础上，提出了包含能量消耗和振动幅值的综合性能指标，以优化末端执行器的捕获位置和每个空间机器人在柔性结构上的构型。采用粒子群优化算法求解优化问题。研究了涉及两种搬运方向、四种机械手构型和两种振动幅度指标的各种情况。通过数值仿真验证了优化布置的可行性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文去求助

来源期刊

IEEE Transactions on Aerospace and Electronic Systems 工程技术-电信学

CiteScore

7.80

自引率

13.60%

发文量

433

审稿时长

8.7 months

期刊介绍： IEEE Transactions on Aerospace and Electronic Systems focuses on the organization, design, development, integration, and operation of complex systems for space, air, ocean, or ground environment. These systems include, but are not limited to, navigation, avionics, spacecraft, aerospace power, radar, sonar, telemetry, defense, transportation, automated testing, and command and control.