运载火箭推进剂加注机器人机构设计  

Mechanism Design of Carrier Rocket Propellant Filling Robot

作　　者：游嘉伟 顿向明[1] 山磊 陆晋荣[3] 郑永煌[3] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240 [2]常州远量机器人技术有限公司,常州213164 [3]中国酒泉卫星发射中心,酒泉732750

出　　处：《机电一体化》2016年第4期41-44,共4页Mechatronics

基　　金：上海市科学技术委员会资助项目(14JC1402600)

摘　　要：针对运载火箭推进剂加注自动化过程的实现,设计了一种能够与火箭加注口自动对接与撤离的机器人。该机器人的SCARA机械臂配合激光雷达定位系统,实现自动定位与跟踪。柔顺对接与撤收机构为机器人与火箭对接的机械载体,当火箭晃动时,能够避免机器人的刚性结构对火箭的冲击。大量实验验证了该机器人的机械结构能够很好地适应塔架与火箭组成的特殊工作环境。Aiming at the implementation of propellant filling automation for carrier robot, a special robot is de- signed for auto-docking with rocket and auto-separating from rocket. The robot can trace the rocket in real-timely u- sing SCARA manipulator and LIDAR localization system. The compliant docking and separating mechanism is a me- chanical carrier for the connecting between robot and rocket. It can also let the rocket avoid the impacting from robot. A great deal of experiment has proved that this kind of robot can excellently complete the task in the special working environment which includes launching tower and rocket.

关 键 词：机器人 SCARA 柔顺机构 对接 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]