基于特征约束关系的航天器大部件装配机器人机型设计方法及应用  

Type Design Method and Application for Spacecraft Large Component Assembly Robot Based on Features Constraint Relationship

作　　者：蔡大军[1,2] 姚建涛 高炜骅[1] 易旺民 赵永生[1,3] CAI Dajun;YAO Jiantao;GAO Weihua;YI Wangmin;ZHAO Yongsheng(Parallel Robot and Mechatronic System Laboratory of Hebei Province,Yanshan University,Qinhuangdao 066004;Engineering Training Center of Yanshan University,Qinhuangdao 066004;Key Laboratory of Advanced Forging&Stamping Technology and Science,Ministry of Education of China,Yanshan University,Qinhuangdao 066004;Beijing Institute of Spacecraft Environment Engineering,Beijing 100094)

机构地区：[1]燕山大学河北省并联机器人与机电系统实验室,秦皇岛066004 [2]燕山大学工程训练中心,秦皇岛066004 [3]燕山大学先进锻压成形技术与科学教育部重点实验室,秦皇岛066004 [4]北京卫星环境工程研究所,北京100094

出　　处：《机械工程学报》2023年第16期233-242,共10页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(U2037202)。

摘　　要：面向狭长任务空间航天器大部件装配的定位调姿需求,提出一种装配机器人机型设计方法。该方法以大型构件装配对接过程中存在的主要特征为和空间约束为主要参考,结合空间自由曲面几何理论,总结装配过程中存在的多种典型特征,基于装配特征对应的数学描述,建立装配几何特征到机器人运动维度的映射关系;定义装配过程中轨迹规划涉及到的多种空间、位姿状态的表示方法,明确轨迹规划中的各类约束相互关系,确定机器人运动的边界范围。以典型作业环境空间站工作舱为例,研发基于PPRRPR构型的航天装配机器人。从机构构态和运动特征两个方面,结合串/并联机构的优势以及在对应约束空间下的行为特性,进一步提出基于机构行为特征的机器人优化设计方法,建立混联装配机器人的概念模型,为特定任务环境下装配及搬运大型装备的机构设计提供了一定的参考。A design method for the robot is proposed,which can localize and adjust poses to assemble large spacecraft components in long and narrow operation space.Considering the main features and spatial constraints in large components assembly and docking,and by combining geometric theories of spatial free-form surfaces,a variety of typical features existing in the assembly process is summarized.Based on the mathematical description of assembly features,mapping relations from the assembly geometric features to the robot motion dimensions are obtained.The methods for representing the multiple spaces and pose states involved in trajectory planning during assembly process are defined.The relations of constraints of different types in trajectory planning are analyzed and the motion boundaries of the robot are determined.Taking the example of the typical assembly applied in the working cabin of space stations,an aerospace assembly robot based on PPRRPR configuration is developed.Furthermore,considering mechanism state and motion characteristics,and combining the advantages of series/parallel mechanisms and the behavior characteristics under corresponding constraint space,a robot optimization method based on the mechanism behavioral characteristics is proposed,and the conceptual model for the hybrid assembly robots is also established,which provides ideas for designing mechanisms of assembly and handling robots used for large equipment in specific working environment.

关 键 词：装配特征 空间约束 行为特征 机型设计 混联 

分 类 号：TH161[机械工程—机械制造及自动化]