在轨细胞机器人动力学分析及操作构型性能评价方法  

Dynamics Analysis and Operational Configuration Performance Evaluation Method for In-Orbit Cell Robots

作　　者：梁嘉伟 姚金铭 张慧博 张志贤[4] LIANG Jiawei;YAO Jinming;ZHANG Huibo;ZHANG Zhixian(College of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China;School of Astronautics,Harbin Institute of Technology,Harbin Heilongjiang 150001,China;College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin Heilongjiang 150001,China;China Academy of Space Technology,Beijing 100094,China)

机构地区：[1]河北工业大学机械工程学院,天津300401 [2]哈尔滨工业大学航天学院,黑龙江哈尔滨150001 [3]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001 [4]中国空间技术研究院,北京100094

出　　处：《海军航空大学学报》2025年第1期121-132,共12页Journal of Naval Aviation University

基　　金：国家自然科学基金面上项目(52475249);国家自然科学基金航天联合基金重点支持项目(U21B2075);国家自然科学基金面上项目(52375025);水声技术全国重点实验室稳定支持计划资助(JCKYS2023604SSJS012);水声技术全国重点实验室稳定支持计划(JCKYS2023604S SJS012);可重用空间碎片抓捕清除技术(KJSP2020010302);中央高校基本科研业务费专项(3072023WD070101)。

摘　　要：日益复杂的在轨任务需求对航天器任务能力提出了更高的要求,细胞机器人具有“同样载荷,多种功能”的特点,能够通过变换自身构型完成在轨组装、抓捕等工作,已逐渐成为未来在轨航天器的研究新热点。面向在轨细胞机器人操作构型性能评价的需求,以细胞机器人在轨组装为背景,基于不同重构工况下的细胞机器人系统动力学参数,建立了组合体构型评价参数的映射关系,构建了关于细胞机器人驱动参数、组合体系统振动参数、组合体轨道参数、拓扑构型重构过程稳定性等设计变量的约束函数,提出了细胞机器人在轨重构构型评价方法。最后,进行了不同构型变化下的动力学仿真,并应用构型评价方法对其进行分析。结果表明,单自由细胞工况二为执行在轨组装任务的最优构型。文章所提评价方法综合考虑了细胞机器人在轨系统动力学参数,可为后续在轨细胞机器人的典型工况构型评价方法提供参考。The increasingly abundant demand for in-orbit missions has put forward higher requirements for spacecraft mission capabilities.Cell robots have the characteristics of"the same payload,multiple functions"and can complete in-orbit assembly,capture and other tasks by changing their own configurations.They have gradually become a new research hotspot for future in-orbit spacecraft.In response to the demand for evaluating the operational configuration performance of in-orbit cell robots,taking the in-orbit assembly of cell robots as the background,based on the dynamic parameters of the cell robot system under different reconstruction conditions,a mapping relationship for the configuration evaluation parameters of the combination is established.Constraint functions are constructed for design variables such as the driving parameters of the cell robot,the vibration parameters of the combination system,the orbital parameters of the combination,and the stability of the topology reconstruction process.A method for evaluating the in-orbit reconstruction configuration of cell robots is proposed.Finally,dynamic simulations are conducted under different configuration changes,and configuration evaluation methods are applied to analyze them.The results indicate that the optimal configuration for performing in-orbit assembly tasks is the single free cell operating condition two.The proposed evaluation method comprehensively considers the dynamic parameters of the in-orbit system of cellular robots,which can provide reference for the typical operating condition configuration evaluation methods of related in-orbit robots in the future.

关 键 词：细胞机器人 在轨操作 动力学分析 构型评价 

分 类 号：V423.4[航空宇航科学与技术—飞行器设计]