Multi-objective Optimal Motion Planning of Heavy-duty Assembly Robot for Large Spacecraft Entering Cabin

Abstract The space inside the capsule such as station sky and core module is narrow, size of depth large, bearing points are scattered weak, there some difficulties in loading, large size, different shape, complicated interface, position, difficult position pose adjustment, high assembly risk, etc.. To solve these problems, a six-DOF heavy-duty robot proposed this paper. adopts combination linear drive rotating joint to increase working capacity robot. kinematics dynamics analysis model established, path planning carried out by means quintic non-uniform B-spline interpolation method, considering fully constraints assembled equipment, multi-objective trajectory optimization based on NSGA2 algorithm established obtain Pareto optimal solution set with time, impact energy consumption objectives, prove that equipment can be efficient smooth. Reliable installation, less power under analysis.