空间机械臂地面无应力装配方法研究  

Research on Stress-free Assembly Method of Space Manipulator

作　　者：曾磊[1] 陈明[1] 孙康 金俨[1] 朱超 张昕蕊 刘宾[1] 熊明华[1] ZENG Lei;CHEN Ming;SUN Kang;JIN Yan;ZHU Chao;ZHANG Xinrui;LIU Bin;XIONG Minghua(Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications,Beijing Institute of Spacecraft System Engineering,Beijing 100094,China)

机构地区：[1]空间智能机器人系统技术与应用北京市重点实验室,北京空间飞行器总体设计部,北京100094

出　　处：《载人航天》2022年第6期733-741,共9页Manned Spaceflight

摘　　要：空间机械臂在轨工作处于失重状态,各活动关节之间不能因地面装配造成附加力/力矩。为了使地面试验状态与在轨工作状态一致,提出了一种地面无应力装配系统,利用气足悬浮+悬吊的方式实现了产品的柔性装配;在装配过程中通过监视工装上的力传感器受力,结合产品位姿精测结果,按照力控制为主、位置控制为辅的原则进行产品位姿调整,完成了空间机械臂无应力装配。空间机械臂地面试验和在轨验证表明了此无应力装配方法的有效性。The space manipulator works in a micro-gravity environment in orbit and there is no such force or torque between the joints caused by ground assembly.In order to simulate the on-orbit state on the ground,a stress-free ground assembly method was proposed which realized the flexible assembly state of space manipulator using the air feet suspension and overhanging.The stress-free assembly of space manipulator was accomplished by monitoring the state of the force sensors on the tooling,the measurement data of the products,and by adjusting the position during the assembly process according to the principle of force control first,position control second.The ground test and on orbit verification of the space manipulator proved the validity of the stress-free assembly method.

关 键 词：空间机械臂 无应力装配 气浮 悬吊 

分 类 号：V416.5[航空宇航科学与技术—航空宇航推进理论与工程]