面向大型卫星的可移动混联机器人加工技术

Mobile hybrid robot processing technology for large satellites

大型卫星结构件加工过程中面临多次吊装和转移风险,针对“卫星不动,工具移动”制造方法定位误差大的问题,提出一种可移动混联机器人加工大尺寸结构件的新方法。基于全向移动平台与机器人视觉引导相结合的粗-精定位策略,采用初步定位和精确定位的“两步定位法”提高移动式混联机器人加工的定位精度。构建可移动混联机器人加工系统,并在大型卫星结构件上开展铣削验证实验。实验结果表明:移动式混联机器人提高了卫星舱体功能面的加工精度,1 600 mm×800 mm范围内4个压紧点的加工平面度达到0.08 mm,共面度达到0.2 mm,距离公差为0.6 mm。混联机器人的高刚度特性为实现卫星舱体高精、高效的原位加工提供了可行性。

Large-scale satellite structural parts are faced with multiple hoisting and transfer risks during the processing.Aiming at the problem of large positioning errors in the “satellite not moving,tool moving” manufacturing method,this paper proposes a new method for processing large-size structural parts with a mobile hybrid robot.Based on the coarse-fine positioning strategy that combines the omni-directional mobile platform with robot vision guidance,the “two-step positioning method” of preliminary positioning and precise positioning is adopted to improve the positioning accuracy of mobile hybrid robot processing.A mobile hybrid robot processing system was constructed,and milling verification experiments on large satellite structures were carried out.The experimental results show that the mobile hybrid robot improves the processing accuracy of the functional surface of the satellite cabin.The processing flatness of the four pressing points within the range of 1600 mm×800 mm reaches 0.08 mm,the coplanarity reaches 0.2 mm,and the distance tolerance is 0.6 mm.The high rigidity of the hybrid robot provides the feasibility for realizing high-precision and efficient in-situ machining of the satellite cabin.