Dynamic modelling and simulation of space robots with variable topologies

doi:10.23919/JSEE.2026.000136

Abstract

Abstract:

This paper proposes a unified dynamic modelling method for the rigid-flexible coupled robots that have variable topology. Furthermore, a global simulation method covering all the phases during the transformation from one topology to the another one, is also put forward. The proposed modelling and simulation method can be applied for both single and multi-robots transformation for vast on-orbit manipulation missions. First, a configuration parameter is presented that contains vital information on the topology configuration. An autonomous generation method of topology configuration description matrix for multi-arm spacecraft is also proposed. Secondly, a unified recursive kinematic modelling method and a general rigid-flexible coupling dynamic modelling methodology based on spatial operator algebra are described using configuration parameters. Then, a global simulation method that can be applied in both single and multi-robots operation scenario is presented to deal with abrupt changes in the state of motion. Finally, several topology simulations for rigid-flexible coupling multi-arm space robots are presented to verify the proposed method. These simulation results show that the methods can deal with several different topology scenarios while avoiding constraint violation problems.

Key words: robot with rigid-flexible coupling, variable topology robot, space robot, dynamic model, global simulation

Hongxu Wang, Jinsheng Guo, Carlo Canali, Chengfei Yue, Xibin Cao, Darwin G.Caldwell. Dynamic modelling and simulation of space robots with variable topologies[J]. Journal of Systems Engineering and Electronics, 2026, 37(4): 1212-1224.

Figures/Tables 14

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Number	Mass/kg	Length/m	Modulus(Frequency)
1	0.7719	(0.05,0,0)	−
2	0.5216	(0.06,0.07,0)	−
3	0.5216	(0.07,0.06,0)	−
4	4.87	(0.06,1,0)	0.7 Gpa(8 Hz)
5	4.87	(1,0.06,0)	0.7 Gpa(8 Hz)
6	0.5216	(0.06,0.07,0)	−
7	0.5216	(0.07,0.06,0)	−
Base	5	L:1, H:0.3	−

Link number	Single robot reconfiguration velocity jump/(rad/s)	Multi-robot reconfiguration velocity jump/(rad/s)
1	−0.0101	−0.5110
2	0.0041	−0.0686
3	0.0122	0.4376
4	−3.87e-04	0.1794
5	−5.84e-04	0.0604
6	2.87e-05	−0.0022
7	7.82e-05	0.0013

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