Dynamic modelling and simulation of space robots with variable topologies
摘要
This paper proposes a unified dynamic modelling method for the rigid-flexible coupled robots that have variable topology.Furthermore,a global simulation method covering all the phases during the transformation from one topology to the another one,is also put forward.The proposed modelling and simulation method can be applied for both single and multi-robots transformation for vast on-orbit manipulation missions.First,a configuration parameter is presented that contains vital information on the topology configuration.An autonomous ge-neration method of topology configuration description matrix for multi-arm spacecraft is also proposed.Secondly,a unified recur-sive kinematic modelling method and a general rigid-flexible coupling dynamic modelling methodology based on spatial operator algebra are described using configuration parameters.Then,a global simulation method that can be applied in both single and multi-robots operation scenario is presented to deal with abrupt changes in the state of motion.Finally,several topo-logy simulations for rigid-flexible coupling multi-arm space robots are presented to verify the proposed method.These si-mulation results show that the methods can deal with several different topology scenarios while avoiding constraint violation problems.
年，卷(期)：
2026, 37(4)
机标分类号：
TH137
TP391.9
U491.13
在线出版日期：
2026年9月10日
