大型空间桁架结构装配序列的分层规划方法

Hierarchical planning method for assembly sequences of large space truss structures

为了自主规划空间在轨装配任务的装配序列,结合大型空间桁架结构的固有分层特性,提出了一种基于连接矩阵的分层规划方法.根据连接矩阵的定义和分层规划的基本原理,通过分析几何结构单元之间普遍的三种连接方式,提出了相应结构的连接矩阵建立方法和规则,来组织低层规划;通过对大型结构进行结构分析,运用桁架结构几何原理,建立整个结构的连接矩阵,来实现高层规划,并以常见的空间桁架结构为例进行了说明,从几何特性角度,讨论了该方法的普遍性.

To automatically plan the assembly sequences of large space truss structures in the process of onorbit assembly mission, a hierarchical planning method based on connection matrixes was presented. The in- herent hierarchical nature of large space truss structures allows their assembly sequences to be obtained by hierarchical planning method. According to the definition of truss connection matrixes, basic principle of hierarchical planning, and analysis on three kinds of normal connection forms between geometry structure cells and structural volume element units, the low level planning methods and rules were formed and relevant connection matrixes were built up. According to the principle of truss structure geometry, by analyzing large space truss structures and founding connection matrixes of whole structures, the high level planning was completed. The normal space truss structures were illustrated to describe this method. The inherent geometry nature of large space truss structures was analyzed and the universality of this method was discussed.