A design of an on-orbit assembly program for large antennas

Abstract As the enabling technology in the on-orbit service and maintenance mission, the space robot assembly technology that realizes the high-precision large space structure assembly mission is the trend of future development. In this paper, for the large space antenna on-orbit assembly task, the design of the space large antenna assembly unit structure and assembly method is completed, and a multi-robot cooperative assembly program is proposed. According to the task requirements, a new type of seven-degree-of-freedom robot with a dual end-effector is designed, and its kinematic modeling and solution are completed. Finally, the motion planning of the robot is realized by using the RT-Connect algorithm, and the reliability of the algorithm is verified in the simulation environment, which demonstrates the ability of the assembly robot to meet the demands of the assembly tasks in the spatially complex environment.