关键词: 在轨组装, 空间机械臂, 多臂协同, 灵巧操作, 控制策略

Abstract: Owing to the future demands of on orbit assembly and repair tasks, a set of multi spacecraft cooperative operation systems composed of information processing satellite, operation satellite, and maintenance satellite for the operation of large targets in space is simulated in this study. In addition, a configuration design for each satellite in combination with on orbit operation task planning is conducted. The dynamic model of a manipulator based on Ju Kane theory is studied, and a fuzzy variable structure controller is designed, which provides a control strategy for multi arm cooperative operation. After measuring the Denavit–Hartenberg engineering parameters of the robotic arm principle prototype, it is introduced into the developed multi body dynamic simulation system to conduct the dynamic simulation and test of the multi arm cooperative operation process. Therefore, the feasibility of the multi spacecraft cooperative operation system is verified, and a technical foundation is laid for future studies on invalid target on orbit operation tasks.

Key words: on orbit assembly, space robotic arms, multi arm cooperation, dexterous operation