Research to Assembly Scheme for Satellite Deck Based on Robot Flexibility Control Principle

2017 5th International Conference on Mechanical Engineering, Materials Science and Civil Engineering

机械制造;材料科学;土木建筑工程

Guo, Tao^1 ; Hu, Ruiqin^1 ; Xiao, Zhengyi^1 ; Zhao, Jingjing^1 ; Fang, Zhikai^1

Beijing Institute of Spacecraft Environment Engineering, No.104 Youyi Rd., Haidian District. Beijing, China^1

关键词: Assembly process;    Cable extrusion;    Collision problem;    Control principle;    Critical quality;    Flexible docking;    Implementation process;    Key technologies;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/324/1/012086/pdf
DOI  :  10.1088/1757-899X/324/1/012086

来源: IOP

【 摘 要 】

Deck assembly is critical quality control point in final satellite assembly process, and cable extrusion and structure collision problems in assembly process will affect development quality and progress of satellite directly. Aimed at problems existing in deck assembly process, assembly project scheme for satellite deck based on robot flexibility control principle is proposed in this paper. Scheme is introduced firstly; secondly, key technologies on end force perception and flexible docking control in the scheme are studied; then, implementation process of assembly scheme for satellite deck is described in detail; finally, actual application case of assembly scheme is given. Result shows that compared with traditional assembly scheme, assembly scheme for satellite deck based on robot flexibility control principle has obvious advantages in work efficiency, reliability and universality aspects etc.