Assist-Arm Configuration Analysis for Dual-Arm Space Robots in Capture Task

Space robots will play an important role in orbital missions in the future, and multi-arm space robots have a wider range of applications due to their flexible structure. For a dual-arm space robot performing capture task in the mission-arm and assist-arm mode, this paper firstly from an innovative perspective regards the combination of the assist arm and the actual base as a virtual base with adjustable dynamic parameters, and based on this, establishes the system dynamics model. Thereafter, the maximum contact force and the base attitude disturbance are derived as the indicators which are proved that different configurations of the assist arm can affect. Finally, through the simulation experiments, it can be seen that different configurations of the assist arm will have an impact on the capture task of the mission arm, especially for the base attitude disturbance caused by contact.