On-orbit Cooperative Precise Operation Strategy for Serial-parallel Hybrid Systems
In response to the demands for precision operations in space missions,a serial-parallel hybrid free-floating space system is proposed that integrates the"macro"dynamic characteristics of space manipulators with the"micro"dynamic features of payload-pointing and controlled parallel platforms.A macro-micro cooperative precision operation strategy is subsequently designed for this system.Initially,a generic dynamic model of the tree-like multi-body system is established based on Kane's equations.By incorporating the kinematic constraints of each articulated joint along with the closed-loop constraints of the parallel platform,we derive the dynamic model for the serial-parallel hybrid space system.Following this,an analysis of motion coupling relations among various bodies within the free-floating.The system—grounded in principles of linear and angular momentum conservation—is conducted.This analysis culminates in developing a macro-micro cooperative operation strategy tailored for the hybrid system.Finally,numerical simulations are performed to validate both the accuracy of the dynamic model and the effectiveness of the macro-micro cooperative operation strategy,thereby providing valuable insights into engineering applications involving serial-parallel hybrid systems.
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