Performance Quantification and Design Optimization of Multi-branch Spacecraft for On-orbit Manipulation
A comprehensive performance evaluation system for multi-branch spacecraft is proposed,incorporating indicators of stiffness,dexterity,workspace capacity,and energy consumption to facilitate the quantification of performance and configuration optimization for spacecraft manipulation in orbit.Initially,traditional single-arm configuration optimization metrics such as manipulability,global velocity performance criteria and dexterous workspace indicators are introduced.Subsequently,a performance quantification evaluation framework for multi-branch spacecraft is developed based on key indicators including multi-branch system stiffness,kinematic dexterity of the multi-branch system and dynamic dexterity of the multi-branch system.Next,considering general control scenarios,single-arm configuration optimization is performed using single-arm optimization metrics as objective functions in conjunction with multi-objective optimization algorithms.Building upon this foundation,modeling and solving configurations for dual-arm support and manipulation scenarios involving multi-branch spacecraft are conducted to address hyper-multi-objective optimization challenges.Finally,the rationality and effectiveness of the proposed indicators are validated through simulation examples.
On-orbit manipulationMulti-branch spacecraftPerformance quantificationConfiguration design and optimizationMulti-object optimization
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