混联式舱内装配调姿机器人系统设计与分析  

Design and analysis of hybrid cabin assembly attitude adjustment robot system

作　　者：刘毅 姚建涛[1] 郭禹彤 易旺民 赵永生[1] LIU Yi;YAO Jiantao;GUO Yutong;YI Wangmin;ZHAO Yongsheng(School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,China;Beijing Institute of Spacecraft Environment Engineering,China Academy of Space Technology,Beijing 100094,China)

机构地区：[1]燕山大学机械工程学院,河北秦皇岛066004 [2]中国空间技术研究院北京卫星环境工程研究所,北京100094

出　　处：《国防科技大学学报》2025年第2期131-145,共15页Journal of National University of Defense Technology

基　　金：国家自然科学基金资助项目(U2037202,52075466)。

摘　　要：为满足航天舱内设备自动化总装需求获得一种结构尺寸小、工作空间大、负载能力高、灵活度高的装配机器人,提出一种基于PRR/PR(PRR)R机构的轻量化、高负载8自由度混联调姿机器人舱内装配系统。分析混联机器人位置映射关系、速度映射关系、雅可比矩阵、加速度映射关系,建立混联装配机器人动力学模型,得到各关节驱动力、驱动力矩与关节速度映射关系。进一步,建立混联机器人刚度模型,求解机构末端所受六维力后机构的变形程度。ADAMS和ANSYS仿真模型验证了机构运动学、动力、理论刚度模型。为狭长空间内大型设备装配自动化的实现提供了可行方案与理论基础。In order to meet the requirements of automatic assembly of equipment in the spacecraft cabin and obtain an assembly robot with small structure size,large workspace,high load capacity and high flexibility,a lightweight,high-load 8-DOF hybrid attitude adjustment robot cabin assembly system based on PRR/PR(PRR)R mechanism was proposed.By analyzing the position mapping relationship,velocity mapping relationship,Jacobian matrix and acceleration mapping relationship of the hybrid assembly robot,the dynamic model of the hybrid assembly robot was established,and the mapping relationship between the driving force,driving torque and joint speed was obtained.Furthermore,the stiffness model of the hybrid robot was established to solve the deformation degree of the mechanism after six dimensional force was applied to the end of the mechanism.ADAMS and ANSYS simulation models verify the kinematic,dynamic and theoretical stiffness models of the mechanism.It provides a feasible scheme and theoretical basis for the realization of large equipment assembly automation in a narrow and long space.

关 键 词：混联机构 狭长空间 装配机器人 运动学 动力学 刚度 

分 类 号：TH69[机械工程—机械制造及自动化]