Coupling dynamic modeling and vibration control of quadruped-robot and large space structure during on-orbit assembly

Abstract

The coupling dynamics problem between the walking robot and large space structures during on-orbit assembly is investigated in this paper. The quadruped walking robot is first chosen as the assembly robot, which is equivalent to a spring-mass-damper system with seven degrees of freedom. The primary goal of the robot is to stably walk on a large space structure while carrying an assembly module to a designated location for assembly. Combining with the characteristic of incrementally increasing of the large space structure, a revival dynamic modeling method is then presented. On this basis, the coupled dynamic model of the robot and the space truss structure is developed. To simulate robot walking, the motion gait of the quadruped walking robot is designed as a diagonal alternating gait. The moving load are considered as disturbance inputs associated with the truss, and an active vibration controller is developed to deal with the disturbance. The numerical simulation of a quadruped walking robot moving on a space truss structure is finally presented with different cases. The results demonstrate that the quadruped walking robot movement has a significant influence on the space truss structure, and the mutual disturbances between the two are effectively suppressed by the proposed controller.