大型火箭发动机柔性对接系统研究  

Research on Flexible Docking System of Large Rocket Engine

作　　者：蔡轶 刘勇[2,3] 张禹[1] 徐志刚[2,3] 刘明洋[2,3] 杨啸[2,3] CAI Yi;LIU Yong;ZHANG Yu;XU Zhi-gang;LIU Ming-yang;YANG Xiao(School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870,China;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Science,Shenyang 110016,China;不详)

机构地区：[1]沈阳工业大学机械工程学院,沈阳110870 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [3]中国科学院机器人与智能制造创新研究院,沈阳110169

出　　处：《组合机床与自动化加工技术》2022年第8期48-52,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(61803367);辽宁省自然科学基金(2019-MS-346)。

摘　　要：由于大型火箭发动机尺寸大、质量大且为薄壁壳体,多层对接止口易发生形变,内嵌式对接止口加大了自动化对接难度。为了解决上述问题提出了一种大型火箭发动机柔性对接装配系统,首先,将靶标与火箭发动机进行固连,通过激光扫描传感器对喷管进行扫描,生成火箭发动机与靶标之间的空间位姿;其次,视觉系统通过检测靶标的实时位姿引导高精度并联调姿平台完成精确对接;最后,对柔性对接装配系统中的高精度并联调姿平台与视觉系统进行误差分析。通过搭建试验样机实例,验证了大型火箭发动机柔性对接装配系统满足对接精度的要求。Due to the large size,mass and thin-walled shell of large rocket engine,multi-layer butt joint is easy to deform,and the embedded butt joint increases the difficulty of automatic butt joint.In order to solve the above problems,a flexible docking assembly system for large rocket engine is proposed.Firstly,the target is fixedly connected with the rocket engine,a nd the nozzle is scanned by laser scanning sensor to generate the spatial position and attitude between the rocket engine and the target.Then the vision system guides the high-precision parallel attitude adjustment platform to complete the accurate docking by detecting the real-time pose of the target.The error between the high-precision parallel attitude adjustment platform and the vision system in the flexible docking assembly system is analyzed.A test prototype is built to verify that the flexible docking assembly system of large rocket engine meets the requirements of docking accuracy.

关 键 词：航天舱段 对接方法 位姿估计 误差分析 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]