摘要
因卫星部分外舱板上需要安装有效载荷,而载荷与卫星主结构之间有多束电缆连接。舱板的安装通常需要使用翻转工装,为了保证舱板的安装精度,在装配过程中要求多名装配工人相互配合才能完成。文章对目前卫星舱板装配过程进行了分析,结合舱板安装实际,提出了机器人辅助自动化装配、半自动化装配方案及其运动路径基本算法。方案的实现有助于推动卫星自动化装配的进程,并提高装配工作效率。
As there are instruments mounted on the satellite outer boards that are connected to the satellite structureby some cables, there should be a proper brace that could uphold and overturn them for the satellite cabin board assembly, and many ship-fitters are required to work in close cooperation to ensure the assembly precision. This paper analyzes the process of the satellite board assembly and proposes a way to complete the assembly process with robot automatically or semi-automatically, to enhance the assembly precision and the work efficiency.
出处
《航天器环境工程》
2012年第5期579-585,共7页
Spacecraft Environment Engineering
关键词
机器人
自动化装配
舱板安装
结构设计
运动模式
robot
automatic assembly
cabin board assembly
structure design
movement pattern
