Dynamic modeling of liquid-filled free-floating space robot and joint trajectory planning with considering liquid positioning

IF 5 1区工程技术 Q1 ENGINEERING, AEROSPACE Aerospace Science and Technology Pub Date : 2025-03-10 DOI:10.1016/j.ast.2025.110133

Yu Lu, Baozeng Yue

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引用次数: 0

Abstract

The free-floating space robot mainly consists of three parts: the main rigid body, the robotic arm and the liquid fuel, where the movements in component parts interact with each other and generate complex coupled dynamic problems. This article establishes an efficient coupled dynamic model of a liquid-filled space robot based on the alternative and iterative algorithm. The moving pulsating ball model (MPBM) is used to describe the dynamic behavior of liquid with large sloshing, while the robotic arm module is modeled using the Newton-Euler method for recursive dynamics. To validate the MPBM, the rigid body motion obtained from the coupled dynamics model is used as the input condition for the Computational Fluid Dynamics (CFD) method. The calculated liquid motion, sloshing force and torque have a high degree of agreement with the simulation results of the equivalent model, thereby verifying the effectiveness of the model proposed in this paper. Finally, based on cosine series basis and Particle Swarm Optimization (PSO) algorithm, the joint trajectory planning problem considering liquid positioning are studied. This method can minimize the deviation of liquid fuel location from the initial position without introducing additional control force and torque after the robotic arm completes the specified action, which is of important significance for liquid management and overall design and dynamics analysis for space robot system in microgravity environments.

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自由浮动空间机器人主要由主体刚体、机械臂和液体燃料三部分组成，各部分运动相互影响，产生复杂的耦合动力学问题。本文基于替代和迭代算法，建立了充液空间机器人的高效耦合动力学模型。移动脉动球模型（MPBM）用于描述具有大量荡动的液体的动态行为，而机械臂模块则使用牛顿-欧拉法进行递归动力学建模。为了验证 MPBM，从耦合动力学模型中获得的刚体运动被用作计算流体动力学（CFD）方法的输入条件。计算得出的液体运动、荡力和扭矩与等效模型的模拟结果高度一致，从而验证了本文所提模型的有效性。最后，基于余弦数列基础和粒子群优化（PSO）算法，研究了考虑液体定位的联合轨迹规划问题。该方法能在机械臂完成指定动作后不引入额外控制力和扭矩的情况下，最大限度地减小液体燃料位置与初始位置的偏差，对微重力环境下的液体管理以及空间机器人系统的整体设计和动力学分析具有重要意义。

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来源期刊

Aerospace Science and Technology 工程技术-工程：宇航

CiteScore

10.30

自引率

28.60%

发文量

654

审稿时长

54 days

期刊介绍： Aerospace Science and Technology publishes articles of outstanding scientific quality. Each article is reviewed by two referees. The journal welcomes papers from a wide range of countries. This journal publishes original papers, review articles and short communications related to all fields of aerospace research, fundamental and applied, potential applications of which are clearly related to: • The design and the manufacture of aircraft, helicopters, missiles, launchers and satellites • The control of their environment • The study of various systems they are involved in, as supports or as targets. Authors are invited to submit papers on new advances in the following topics to aerospace applications: • Fluid dynamics • Energetics and propulsion • Materials and structures • Flight mechanics • Navigation, guidance and control • Acoustics • Optics • Electromagnetism and radar • Signal and image processing • Information processing • Data fusion • Decision aid • Human behaviour • Robotics and intelligent systems • Complex system engineering. Etc.