机器人在卫星舱板装配中的应用研究  

The satellite board assembly with robot

作　　者：邱铁成[1] 张满[1] 张立伟[1] 赵璐[1] 徐奕柳[1] 

机构地区：[1]北京卫星环境工程研究所,北京100094

出　　处：《航天器环境工程》2012年第5期579-585,共7页Spacecraft Environment Engineering

摘　　要：因卫星部分外舱板上需要安装有效载荷,而载荷与卫星主结构之间有多束电缆连接。舱板的安装通常需要使用翻转工装,为了保证舱板的安装精度,在装配过程中要求多名装配工人相互配合才能完成。文章对目前卫星舱板装配过程进行了分析,结合舱板安装实际,提出了机器人辅助自动化装配、半自动化装配方案及其运动路径基本算法。方案的实现有助于推动卫星自动化装配的进程,并提高装配工作效率。As there are instruments mounted on the satellite outer boards that are connected to the satellite structureby some cables, there should be a proper brace that could uphold and overturn them for the satellite cabin board assembly, and many ship-fitters are required to work in close cooperation to ensure the assembly precision. This paper analyzes the process of the satellite board assembly and proposes a way to complete the assembly process with robot automatically or semi-automatically, to enhance the assembly precision and the work efficiency.

关 键 词：机器人 自动化装配 舱板安装 结构设计 运动模式 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]