面向筒类舱段自动装配的两点定位调姿方法

Two-point Positioning and Pose Adjustment Method for Automatic Assembly of Barrel-type Cabin

为解决航天器数字化对接装配中的调姿问题,提出了两点定位调姿法:通过改变对接舱段上2个关键点的位置来实现舱段空间位姿的调整,采用五次多项式轨迹对舱段进行调姿轨迹规划并约束舱段的运动参数,确定舱段合理的调姿时间,保证舱段平稳快速地完成对接任务。该方法简化了调姿算法,采用串联机构即可满足调姿算法要求,避免了多轴协调控制,降低了控制难度。利用ADAMS对所提出的方法进行仿真验证,通过两点定位调姿法调整对接舱段可使其到达目标位姿,位移、速度、加速度轨迹光滑连续,同时满足各边界约束条件,调整后舱段姿态与目标坐标值最大偏差为-0.08 mm,调整过程中最大加速度为10 mm/s2。仿真结果表明,两点定位调姿法可满足筒类舱段数字化装配调姿的精确性、稳定性和高效性要求,有助于实现筒类舱段调姿过程的自动控制。

In order to solve the problems of pose adjustment in digital docking assembly of spacecrafts,a two-point positioning and pose adjustment method was proposed.By adjusting the positions of the two key points in the docking bay to adjust the space posture of the cabin section,the fifth-order polynomial trajectory was used to adjust the pose of the trajectory planning,constrain cabin movement parameters,and determine the cabin section of a reasonable posture time to ensure the smooth and fast docking tasks.The method simplified the alignment algorithm,so the series mechanisms might meet the requirements of alignment algorithm,which avoided the multi-axis controls and reduced the control difficulties.The simulations of the proposed method were carried out by ADAMS.The docking cabin may reach the target position by using two-point positioning adjustment method.And the track of the displacement,velocity and acceleration are smooth and continuous,while the boundary conditions are adjusted.The maximum deviation between the pose and the target coordinate is as-0.08 mm,and the maximum acceleration during the adjustment is as 10 mm/s2.The simulation results show that the two-point positioning method may meet the requirements of accuracy,stability and high-efficiency of the digital assembly orientation of tube-type cabin,which may contribute to the automatic control of the barrel-type pose adjustments.