大型复杂构件移动机器人原位制造技术架构  

In-situ Manufacturing Technology Architecture of Mobile Robots for Large Complex Components

作　　者：文科 徐建萍 陈钦韬 杨继之 张加波[1] 王国欣 Wen Ke;Xu Jianping;Chen Qintao;Yang Jizhi;Zhang Jiabo;Wang Guoxin(Beijing Spacecrafts,China Academy of Space Technology,Beijing 100094,China)

机构地区：[1]中国空间技术研究院北京卫星制造厂有限公司,北京市100094

出　　处：《工具技术》2023年第7期61-66,共6页Tool Engineering

基　　金：国家重点研发计划(2019YFB1310100);国家自然科学基金(62003346,52075533);教育部重点实验室开放课题(B202201);北京市自然科学基金(3232018)。

摘　　要：为正确和高效地应用移动机器人技术,针对大型航天器复杂舱体制造实际工程应用提出“感知-决策-仿真-控制-执行”的综合技术架构,以揭示移动机器人的集成内涵。依据综合技术构建移动机器人应用架构,介绍移动机器人应用模式;构建大尺寸测量架构,以测量模型为核心实现多环节数据与作业过程交互;构建智能工艺架构,以“定位-找正-加工”基础工艺路线构建系统工艺;构建数据流软件架构,通过多维仿真实现虚实融合、以虚控实过程;构建混合式控制架构,搭建反馈控制层、反应式的规划-执行层、规划层三层体系结构。在大型卫星模拟件上进行试验验证,证实所提出技术架构的正确性与有效性。For the correct and efficient application of mobile robot technology, for the actual engineering application of large spacecraft complex cabin manufacturing, a comprehensive technical architecture of perception-decision-simulation-control-execution is proposed to reveal the integrated connotation of mobile robots.Based on the comprehensive technical architecture, the mobile robot application architecture is given, and the mobile robot application mode is introduced.The large-scale measurement architecture is given, the interaction of multi-link data and operation process is realized by the measurement model as the core.And then the intelligent process architecture is given.The system process is constructed with the basic process route of positioning-aligning-processing.A data flow software architecture is given, which realizes the integration of virtual and real through multi-dimensional simulation, and controls the real process by virtual.A hybrid control architecture is given, which is composed of a three-layer system structure of feedback control layer, reactive planning-execution layer and planning layer.The experimental verification is carried out on a large-scale satellite simulation, which confirms the correctness and effectiveness of the proposed technical architecture.

关 键 词：技术架构 大型复杂构件 移动机器人 大尺寸测量 智能工艺 

分 类 号：TG706[金属学及工艺—刀具与模具] TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]