串并混联系统的在轨协同精细操作策略

In response to the demands for precision operations in space missions,a serial-parallel hybrid free-floating space system is proposed that integrates the “macro” dynamic characteristics of space manipulators with the “micro” dynamic features of payload-pointing and controlled parallel platforms. A macro-micro cooperative precision operation strategy is subsequently designed for this system. Initially,a generic dynamic model of the tree-like multi-body system is established based on Kane's equations. By incorporating the kinematic constraints of each articulated joint along with the closed-loop constraints of the parallel platform,we derive the dynamic model for the serial-parallel hybrid space system. Following this,an analysis of motion coupling relations among various bodies within the free-floating. The system—grounded in principles of linear and angular momentum conservation—is conducted. This analysis culminates in developing a macro-micro cooperative operation strategy tailored for the hybrid system. Finally,numerical simulations are performed to validate both the accuracy of the dynamic model and the effectiveness of the macro-micro cooperative operation strategy,thereby providing valuable insights into engineering applications involving serial-parallel hybrid systems.