基于柔性直角坐标机器人的火箭连接器自动对接过程分析及试验  

Analysis and Experiment on the Launch Vehicle's Umbilical Connector Autonomous Mating Process Based on Flexible Rectangular Robot

作　　者：李泳峄 吴新跃[1] 翟旺 白文龙[1] 李道平[1] Li Yong-yi;Wu Xin-yue;Zhai Wang;Bai Wen-long;Li Dao-ping(Beijing Institute of Space Launch Technology, Beijing, 100076)

机构地区：[1]北京航天发射技术研究所,北京100076

出　　处：《导弹与航天运载技术》2019年第1期116-121,共6页Missiles and Space Vehicles

摘　　要：为提高运载火箭发射准备流程安全性、可靠性以及保障性,实现地面连接器与运载火箭上接口的自动对接,首先分析了连接器自动对接技术的应用背景及技术需求特点,提出由检测系统、控制系统及柔性位姿调整系统组成连接器自动对接技术方案;然后结合工业机器人的机构形式及特点分析,设计一种基于柔性直角坐标机器人的连接器自动对接系统方案,并研制柔性直角坐标机器人式自动对接试验系统;最后开展在箭上接口不同运动规律下的连接器自动对接试验。试验结果表明:该柔性直角坐标机器人正常实现了连接器的位姿调整功能及与箭上接口的同步随动功能,并准确、可靠地完成了连接器与箭上接口的自动对接、分离流程。In order to enhance the safety, reliability and supportability of the launch preparation process for launch vehicle, and realize autonomous mating between ground umbilical connector and launch vehicle, the application background and technical requirements of the umbilical connector's autonomous mating technology are analyzed firstly in this paper, and then a technical scheme of umbilical connector's autonomous mating system which are composed of detection system, control system and flexible pose adjustment system is raised;Secondly, through the analysis of mechanism type and characteristic of industrial robot, a umbilical connector's autonomous mating system scheme based on flexible rectangular robot is presented, and then the practical umbilical connector's autonomous mating experimental system based on flexible rectangular robot is developed;finally, a series of umbilical connector's autonomous mating experiments are carried out under different motion laws of the launch vehicle, the results show that the flexible rectangular robot can realize the pose adjustment function and the synchronous tracking function between the umbilical connector and launch vehicle normally, and finish the autonomous mating and separation process accurately and reliably.

关 键 词：自动对接过程 连接器 柔性直角坐标机器人 火箭 

分 类 号：V55[航空宇航科学与技术—人机与环境工程]