Multi-robots cooperative assembly planning of large space truss structures

The large space truss structures will be likely to require on-orbit assembly in the future. One of the several proposed methods include cooperative assembly performed by multi-robots. An intelligent planning method was presented to generate optimal assembly tasks. Firstly, the inherent hierarchical nature of truss structures allows assembly sequences to be considered from strut level and structural volume element (SVE) level. Then, a serial assembly strategy in multi-robots environment was applied. Furthermore, an assembly sequence planning algorithm was presented. At the assembly sequence planning level, one ant colony algorithm for assembly sequence planning was improved to adopt assembly direction and time as heuristic information and considered assembly tasks. And, at the assembly motion planning level, a randomization-based motion planning algorithm for assembly task planning mainly considered results of the mission-level planning, multi-robots interactive information, serial assembly strategy and assembly task distributions. A case illustrates results of planning methods.