Design and Analysis of the Implementation Layer of Space Cell Robot System

With the increasing complexity of space tasks, space cell robots will play an increasingly important role. In this paper, the system of the space cell robot as first introduced, then the implementation layer was designed, especially for the most important functional tissues in the space cell robot, such us swing, twist and rotation tissues. According to the requirements of kinematics modeling and dynamics modeling. the tissue module was classified and described mathematically, which was convenient for the automatic generation of kinematics model and dynamics model. Forward kinematics modeling was carried out based on the product of exponeatial method (POE) and the inverse kinematics problem is solved based on genetic algorithm. Finally, the dynamic modeling is carried out based on recursive newton-euler method (RNE).