Sequence Planning for On-Orbit Assembly of Large Space Truss Structures in a Multirobot Environment

作     者：GUO Jifeng,WANG Ping,CUI Naigang (Deptartment of Astronautic Engineering,Harbin Institute of Technology,Harbin 150001,China) 

作者机构：Deptartment of Astronautic EngineeringHarbin Institute of TechnologyHarbin 150001China 

出 版 物：《武汉理工大学学报》 (Journal of Wuhan University of Technology)

年 卷 期：2006年第28卷第S1期

页      面：319-324页

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

主　　题：assembly planning autonomous space robot large space truss structures. 

摘      要：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.