Dynamic modeling and simulation research of space station assembly on orbit by large-scale robotic arm

The space station modules form various configuration at different mission phase, and large scale robotic arm is one of the ways to realize the assembly of space modules on orbit. This paper made integrated simulation of dynamics and controlling models about aerocraft and 7-Dof rigid-flexible coupling robotic arm by Simulink and ADAMS. It makes the simulating analysis of the process of robotic arm capturing the resting experiment module and making the transposition assembly of it. On one side it gets dynamic and control characteristics of transposition assembly process. On the other side it analyzes the feasibility of schemes, such as path planning, torque control, stability of Gyro control, torque angle saturation of momentum. All those provide theoretical support and base to space modules assembly on-orbit by robotic arms.