【摘要】 针对在轨操控多分支航天器性能量化与构型设计优化问题，提出了一套兼顾刚度、灵巧性、工作空间指标及能耗指标的多分支航天器性能评价体系，并使用多目标遗传算法完成了多分支航天器构型的优化。首先，介绍了可操作度、速度全域性能、灵巧工作空间等传统单臂构型优化指标，并提出由多分支系统刚度、多分支运动学灵巧性、多分支动力学灵巧性等性能指标构建的多分支航天器性能量化评价体系。其次，考虑通用操控场景，以单臂优化指标为目标函数，并结合多目标优化算法，完成了单臂构型优化。在此基础上，面向双臂支撑、双臂操控的场景，完成了多分支航天器构型优化这类超多目标优化问题的建模与求解。最后，通过仿真实例验证了所提指标的合理性与有效性。更多还原

【Abstract】 A comprehensive performance evaluation system for multi-branch spacecraft is proposed, incorporating indicators of stiffness, dexterity, workspace capacity, and energy consumption to facilitate the quantification of performance and configuration optimization for spacecraft manipulation in orbit. Initially, traditional single-arm configuration optimization metrics such as manipulability, global velocity performance criteria and dexterous workspace indicators are introduced. Subsequently, a performance quantification evaluation framework for multi-branch spacecraft is developed based on key indicators including multi-branch system stiffness, kinematic dexterity of the multi-branch system and dynamic dexterity of the multi-branch system. Next, considering general control scenarios, single-arm configuration optimization is performed using single-arm optimization metrics as objective functions in conjunction with multi-objective optimization algorithms. Building upon this foundation, modeling and solving configurations for dual-arm support and manipulation scenarios involving multi-branch spacecraft are conducted to address hyper-multi-objective optimization challenges. Finally, the rationality and effectiveness of the proposed indicators are validated through simulation examples.更多还原