DESIGN OF AN OPTIMAL MECHANICAL STRUCTURE OF A FREE-FLYING SPACE ROBOTIC MODULE AS A CONTROL OBJECT - I

The problem, of the analysis of an optimal mechanical structure of a s pace robotic module as an automatic control object that is a free-flyi ng maneuvering transport vehicle is considered. The optimality criteri a are as follows: (1) the attainability of the static balance of the s pace module both with a gripped useful load and without it and (2) the feasibility of a minimum value of the inertia moment at the stage of flight. The above criteria are appreciably important for the design of the attitude control system of this module because these criteria mar kedly reduce the energy expenditure for control. Methods of the grippi ng of a load are defined, which enable us to solve the problem for the subsequent configuration of the system to the balanced state. Bounds are clarified of the consistency of the recoverable load with the poss ibility of the robot-tug.