Multi-Level Behavioral Mechanisms and Kinematic Modeling Research of Cellular Space Robot

Abstract

The cellular space robot (CSR) is a new type of self-reconfigurable robot. It can adapt the variety of on-orbit service tasks with large space spans through multi-level reconfiguration mechanisms. As the CSR has a large configuration space, kinematic solving becomes a key problem affecting on-orbit operation capability, and kinematic automatic solving research must be conducted. In order to solve this problem, firstly, the cellular space robot system capable of realizing multi-level self-reconfiguration is proposed for the demand of space on-orbit service, and the kinematic equations of modules are constructed by considering a single module function using screw theory. Secondly, the kinematics of the cellular space robot are encapsulated and divided into multiple levels, and the multilevel-assembly relationship-description method for robotic systems is proposed based on graph theory. On this basis, the pathway-solving algorithm is proposed to express the robot organization reachability information. Finally, the module–organ–robot multilevel kinematics solving algorithm is proposed in combination with screw theory. In order to verify the effectiveness of the algorithm in this paper, numerical simulation is used to compare with the proposed algorithm. The results show that compared with the traditional algorithm, the method in this paper only needs to update part of the assembly relations after organ migration, which simplifies the kinematic modeling operation and improves the efficiency of kinematic computation.

Keywords

• kinematic modeling
• self-reconfigurable robot
• screw theory
• assembly configuration representation