Dynamic modeling of self-reconfigurable multi-arm space robotic system with variable topology

Modular self-reconfigurable space robots, which can change their topology for the on-orbital missions, can reduce costs, increase reliability, and permit the rapid repair and refueling of future spacecraft. However, the dynamic modeling is very difficult since the topology of the multi-body system is variable. In this paper, we design a self-reconfigurable multi-arm space robotic system, analyze the topology for the possible configuration, and derived the corresponding dynamic model. According to the possible mission, the space robot can work with the following configurations: free-flying three-arm system, compounded single-foot dual-arm system, compounded dual-foot single-arm system, and compounded single-foot single-arm system. The dynamic equations are resolved by the Runge-Kutta-Gill method, and realized using the standard C language. At last, the virtual prototype models are created based on ADAMS software. The developed dynamic models are verified by comparing the calculation results of the C code and ADAMS model under the same conditions. Simulation results show the developed dynamics models and calculation code.