Cooperation method of series-parallel space operating system

By using dynamic modeling and impedance control of a series-parallel hybrid space operating system, and combining the advantages of series and parallel mechanisms, the problem of target tracking accuracy during the assembly of large flexible trusses was solved, achieving high-precision attitude tracking.

CN122323152APending Publication Date: 2026-07-03BEIJING INST OF TECH
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Patent Information

Application Number
CN202610404178.5
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-03-30
Publication Date
2026-07-03

AI Technical Summary

Technical Problem

In space operating systems, how can we achieve rapid and accurate tracking of targets during the assembly of large flexible truss structures, especially with a large working space on the moving base and overcoming the influence of low-frequency reciprocating motion of systems such as robotic arms?

Method used

A hybrid serial-parallel spatial operating system is adopted. Dynamic analysis is performed using the Kane method, an impedance controller is constructed, and the flexibility of the serial mechanism and the accuracy of the parallel mechanism are combined to design a hybrid serial-parallel operation method. A 6-DOF serial robotic arm and a Stewart parallel mechanism are used to achieve preliminary tracking of the target pose and fine compensation for attitude error.

Benefits of technology

It achieves higher attitude tracking accuracy in a wide workspace, overcomes the motion effects of the flexible base, and improves the compliance and accuracy of the operating system.

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Abstract

The invention discloses a cooperative operation method of a series-parallel hybrid space operation system. The problem to be solved is to provide a series-parallel hybrid combined operation system composed of a six-degree-of-freedom series mechanical arm and a Stewart platform for the problem that a mechanical arm on a movable base tracks a dynamic pose in on-orbit operation. The method comprises the following steps of: performing dynamic modeling on a series-parallel operation system by using a Kane method, and analyzing a coupling relationship among drivers to obtain an explicit dynamic equation; designing an impedance controller based on the kinetic equation to realize compliant control of the series-parallel operation system; and finally, an IMU arranged at the tail end of the series mechanical arm is used for sensing the actual posture of the series part, the actual posture is compared with the target posture to obtain a posture error, after inverse kinematics inverse solution is conducted, a Stewart platform fixed to the tail end of the series mechanical arm is used for compensating the posture error, and finer posture tracking is achieved.
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