Design of Tree-network Robot with Variable Topological Space and Cooperative Compliant Control

Aiming at the strategic demands of China's future on-orbit servicing，a variable-topology space robot design and a cooperative compliant control method for multi-manipulator systems are presented. Inspired by bionic principles，a space tree-network robot system with hierarchical modular architecture is developed，comprising three interconnected modules：“tree root”，“tree branch”and “tree leaf”. These modules are connected via quick lock/release mechanisms， enabling dynamic topology reconfiguration and multifunctional integration. A unified dynamics model for hybrid topologies is formulated using the Lagrangian approach，and a multi-arm cooperative compliant control algorithm based on impedance control is proposed. Comparative validation through dynamics simulations and ground experiments confirms that topological transformations are effectively realized，and the developed control algorithm ensures compliant operations under multi-manipulator coordination. This research provides theoretical and methodological foundations for next-generation space robot design and on-orbit operational paradigms.