›› 2017, Vol. 37 ›› Issue (4): 10-17.doi: 10.16708/j.cnki.1000-758X.2017.0045

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Studyonmotionplanningofvariablegeometrytrussduringmultibodymaneuvering

 DENG  Ya, ZHANG  Jin-Jiang*   

  1. BeijingInstituteofControlEngineering,Beijing100190,China
  • Received:2016-11-09 Revised:2017-03-27 Online:2017-08-25 Published:2017-06-29

Abstract: Mostofcurrentresearchesaboutvariablegeometrytruss(VGT)  motionplanningonlyfocusonthesituationthateachbayhassingledegreeoffreedom.MotionplanningofVGTwhoseeachbayarevariablemultiplelinkswereinvestigated.Kinematicmodelwassetupbasedonthegeometricalrelationship.Consideringmomentumconservationofthefreefloatingsystem,velocitykinematicmodelwasformulated.AmethodofdesigningmovingsequenceandmovingtimeseparatelywasproposedformotionplanningofsinglebayVGT.Additionally,multi-bayVGTmotionplanningproblemwassolvedbyenergyoptimum.Simulationresultsshowthatthealgorithmiseffective,andtheoptimizingindexis0.8798.ThemethodhaspracticalbenefitstothespaceoperationsystemwithVGT.

Key words: spaceoperationstructure, variablegeometrytruss, motionplanning, geneticalgorithm, kinematicmodeling, multibodymaneuvering