Multirobot Assembly Sequence Planning of a Large Space Telescope

As space structures trend toward larger scales and modularization, their on-orbit assembly presents a significant challenge. Assembly sequence planning is crucial in minimizing vibration and enhancing the efficiency of on-orbit construction. This paper explores the multirobot assembly sequence planning algorithm for a large space telescope. A dynamic model is firstly developed to analyze the vibration of segmented mirror pieces and the main satellite during assembly, taking into account the flexibility of connections at interfaces. The dynamic model is able to provide criteria for time efficiency and satellite attitude disturbances. Considering constraints during the assembly process, a modified multiobjective ant colony optimization algorithm capable of planning multirobot assembly sequences is implemented. The simulation results demonstrate that the proposed method not only facilitates parallel planning of multirobot assembly sequences but also leads to a reduction in assembly time and attitude disturbances of the main satellite. The results of assembly sequence planning provide dependable guidance for the subsequent planning levels, such as task planning and trajectory planning, of the on-orbit assembly task for large space telescopes.