面向在轨智能装配的太空桁架结构编码与靶标系统设计

doi:10.3901/JME.2021.15.015

机械工程学报 ›› 2021, Vol. 57 ›› Issue (15): 15-22.doi: 10.3901/JME.2021.15.015

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面向在轨智能装配的太空桁架结构编码与靶标系统设计

胡佳兴, 赵常捷, 郭为忠

上海交通大学机械系统与振动国家重点实验室上海 200240

收稿日期:2020-12-30 修回日期:2021-04-22 出版日期:2021-08-05 发布日期:2021-11-03
通讯作者: 郭为忠(通信作者),男,1970年出生,教授,博士研究生导师。主要研究方向为现代机构学与并联机器人学。E-mail:wzguo@sjtu.edu.cn
作者简介:胡佳兴,男,1997年出生。主要研究方向为机器人智能装配与机器视觉。E-mail:jiaxing_hu@foxmail.com;赵常捷,男,1989年出生,博士研究生。主要研究方向为机构智能设计。E-mail:zhaochangjie@sjtu.edu.cn
基金资助:
ZR航天领域预先研究（040102）资助项目。

Component Encoding and Fiducial Marker System Design for the On-orbit Intelligent Assembly of Modular Space Truss Structure

HU Jiaxing, ZHAO Changjie, GUO Weizhong

State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240

Received:2020-12-30 Revised:2021-04-22 Online:2021-08-05 Published:2021-11-03

摘要/Abstract

摘要： 太空桁架在轨装配目前主要依靠值守空间站的航天员完成，开展在轨智能装配作业是未来发展趋势。针对可拓展太空桁架的在轨智能装配问题，对前期所研制新型桁架结构进行装配信息定义，建立桁架装配体编码规则和数据结构，定量描述不同基本单元的特征差异、位姿差异与连接关系，实现杆件和多头球点两类基本单元的独立编号；基于机器人视觉装配作业要求，设计出一套用于存储和提取桁架装配信息的靶标系统，实现桁架基本单元编码与靶标ID之间的映射，将桁架组件的识别与装配信息的提取过程转化为靶标的识别与靶标映射表的检索过程。5 m直立桁架仿真算例验证了所提方法的可行性和有效性。

关键词: 太空桁架, 在轨智能装配, 桁架组件编码, 靶标设计

Abstract: Space truss on-orbit assembly is currently mainly completed by astronauts on duty at the space station, and it is a future trend to carry out on-orbit intelligent assembly operations. Aiming at the problem of on-orbit intelligent assembly of modular space truss, the assembly information of the new truss structure developed in the early stage is defined, the coding rules and data structure of the truss assembly are established, and the characteristic difference, position and pose difference and connection relationship of different basic units are quantitatively described. The independent numbering of the two basic elements of rods and multi-headed nodes is developed. In addition, based on the requirements of robotic visual assembly operations, a set of fiducial marker systems for storing and extracting truss assembly information is designed, and the mapping between truss basic element serial numbers and marker ID is established. As a result, the process of truss component identification and assembly information extraction is transformed into fiducial marker identification and mapping table retrieval process. The simulation example of a five-meter vertical truss structure verifies the feasibility and effectiveness of the proposed method.

Key words: space truss, on-orbit intelligent assembly, truss component encoding, fiducial marker design

中图分类号:

TH112

胡佳兴, 赵常捷, 郭为忠. 面向在轨智能装配的太空桁架结构编码与靶标系统设计[J]. 机械工程学报, 2021, 57(15): 15-22.

HU Jiaxing, ZHAO Changjie, GUO Weizhong. Component Encoding and Fiducial Marker System Design for the On-orbit Intelligent Assembly of Modular Space Truss Structure[J]. Journal of Mechanical Engineering, 2021, 57(15): 15-22.

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面向在轨智能装配的太空桁架结构编码与靶标系统设计

Component Encoding and Fiducial Marker System Design for the On-orbit Intelligent Assembly of Modular Space Truss Structure

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