Typical Topology Variation and Dynamic Transformation Method for Multi-arm Space Robot

Abstract

Dynamic modeling is the key technology in studying multi-arm space robots with variable topology. The difficulty lies in establishing the transformation from one topology to the other one. In this paper, typical configurations applied in orbit manipulation are demonstrated and the corresponding dynamic model are built based on spatial operator algebra(SOA). Then a general topological transformation method is proposed via factored serial topological variation. Finally, listed dynamic model of the configuration verifies the transformation result.