异类细胞单元构型策略与装配研究

Study on Cell Configuration Strategy and On-orbit Assembly of Heterogeneous Cells

针对空间设施建设的问题,基于机器人系统的多层次理论,设计了四种空间桁架在轨组装机器人的异类细胞单元模块,构建了满足于空间桁架在轨组装的多种机器人构型方案。对多种空间桁架在轨组装机器人构型进行了运动学仿真分析,得到机器人在桁架组装过程中,其关节旋转运动和装配运动的相关轨迹曲线,搭建了机器人的运动学实验平台,分析实验产生误差的原因。验证了机器人运动性能的可靠性与桁杆组装的准确性,探讨了机器人运动误差和对桁杆装配精度的影响。研究结果可为空间桁架在轨组装异类细胞单元衍生构型与装配提供一种理论和技术支持。

Aiming at the problems of space facilities construction,based on the multi-level theory of robot system,four kinds of heterogeneous cell modules of space truss on-orbit assembly robots were designed,and a variety of robot configuration schemes for space truss on-orbit assembly were constructed.The kinematics simulation analysis was carried out for various space truss in-orbit assembly robots,and the relative trajectory curves of joint rotation and assembly motion were obtained during the truss assembly process.The kinematics experiment platform of the robot was built,and the causes of experimental errors were analyzed.The reliability of the robot motion performance and the accuracy of the truss assembly are verified,and the influence of the robot motion error and the truss assembly accuracy is discussed.The results of this study can provide a theoretical and technical support for the configuration and assembly of heterogeneous cell derived from space truss in-orbit assembly.