摘要
针对机器人在轨构建空间桁架结构的装配序列规划问题,提出一种可同时求解装配单元装配序列与机器人运动的序列规划方法。首先设计了装配机器人并建立了动力学模型;其次,对机器人在整个装配过程中的运动进行了分类并分别给出了规划与控制方法;然后,建立了装配序列规划的评价指标并采用离散粒子群算法求解。最后,以常用空间桁架结构为例,通过仿真校验了所提方法的有效性。
Aiming at the assembly sequence planning of space truss structure constructed by robot on orbit,a method is proposed to solve the assembly unit sequence and robot motion simultaneously.Firstly,the assembly robot is designed and its dynamic model is established.Secondly,robot motions in the whole assembly process are classified and the planning and control methods are given.Then,the evaluation index of assembly sequence planning is established and is optimized through discrete particle swarm optimization.Finally,simulation of a common spatial truss structure assembly is perfound to verify the effectiveness of the proposed method.
作者
罗建军
王嘉文
王明明
刘聪
LUO Jian-jun;WANG Jia-wen;WANG Ming-ming;LIU Cong(Research&Development Institute of Northwestern Polytechnical University in Shenzhen,Shenzhen 518057,China;School of Astronautics,Northwestern Polytechnical University,Xi’an 710072,China)
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2021年第4期437-449,共13页
Journal of Astronautics
基金
深圳科创委基金项目(JCYJ20180508151938535)
国家自然科学基金(61973256,U2013206)。
关键词
在轨装配
空间桁架结构
机器人
装配序列规划
离散粒子群
On-orbit assembly
Space truss structure
Robot
Assembly sequence planning
Discrete particle swarm optimization
