空间桁架的人-机协作装配规划与试验验证  

Human-Robot Collaborative Assembly Planning and Experiment Verification of Space Trusses

作　　者：陈萌 杨美丽 张崇峰[3] 赵常捷 朱欣悦 CHEN Meng;YANG Meili;ZHANG Chongfeng;ZHAO Changjie;ZHU Xinyue(Shanghai Key Laboratory of Spacecraft Mechanism,Shanghai 201109,China;Institute of Aerospace System Engineering Shanghai,Shanghai 201109,China;Shanghai Academy of Spaceflight Technology,Shanghai 201109,China;Shanghai Jiao Tong University,Shanghai 200240,China;Huazhong University of Science and Technology,Wuhan 430074,China)

机构地区：[1]上海市空间飞行器机构重点实验室,上海201109 [2]上海宇航系统工程研究所,上海201109 [3]上海航天技术研究院,上海201109 [4]上海交通大学,上海200240 [5]华中科技大学,武汉430074

出　　处：《集成技术》2022年第4期56-69,共14页Journal of Integration Technology

基　　金：国家自然科学基金项目(U21B6002)。

摘　　要：该文以空间直立桁架结构的人-机协作装配流程为研究对象,提出一种适用于径向快装桁架模块单元的创新构型,建立了基于状态矩阵和邻接矩阵的桁架结构装配序列、装配模式和装配过程的数学模型。该文还对空间环境下桁架装配的人-机能力约束进行分析,提出基于动素分析的装配任务层级化分解方法,利用比较分配原则制定了适用编程的人-机协作装配任务流程和分配方案。基于所提出方案,通过开展人穿戴模拟宇航服与机械臂协作装配5 m长直立桁架结构的地面演示试验,验证了该方案的合理性和组装流程的可行性,为空间大型设施在轨构建提供了技术原理支撑。To study the human-robot collaborative assembly process of space erectable truss structure,an innovative configuration that suitable for radial fast assembly of truss modules was proposed in this work.Based on state matrix and adjacency matrix,mathematic models of assembly sequence,assembly mode and assembly process of truss structures was established firstly.Then,the human-robot capability constraints of truss assembly in space environment were analyzed.The hierarchical decomposition of assembly tasks based on dynamic operation element analysis was proposed.The process and assignment scheme of human-robot collaborative assembly tasks suitable for programming were given by using the principle of comparison and allocation.Finally,to verify the rationality and feasibility of the proposed assembly process,a ground demonstration test was carried out for the collaborative assembly of 5 m long erectable truss structure by human wearing simulated space suit and manipulator.The results showed that,the proposed scheme can provide an effective way to realize the on-orbit construction of large space facilities.

关 键 词：桁架结构 人-机协作 装配 状态矩阵 规划 验证 

分 类 号：TP205[自动化与计算机技术—检测技术与自动化装置]