大型构件自动化柔性对接装配技术综述

doi:10.3901/JME.2023.14.277

机械工程学报 ›› 2023, Vol. 59 ›› Issue (14): 277-297.doi: 10.3901/JME.2023.14.277

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大型构件自动化柔性对接装配技术综述

赵欢, 葛东升, 罗来臻, 尹业灿, 丁汉

华中科技大学数字制造装备与技术国家重点实验室武汉 430074

收稿日期:2022-08-01 修回日期:2023-01-25 出版日期:2023-07-20 发布日期:2023-08-16
通讯作者: 赵欢(通信作者),男,1983年出生,博士,教授,博士研究生导师。主要研究方向为机器人智能化加工与装备技术。E-mail:huanzhao@hust.edu.cn
作者简介:葛东升,男,1994年出生,博士研究生。主要研究方向为多机器人协作控制。E-mail:gds@hust.edu.cn;罗来臻,男,1998年出生。主要研究方向为机器人路径规划。E-mail:laizhenluo@hust.edu.cn;尹业灿,男,1997年出生。主要研究方向为机器人视觉。E-mail:yinyecan@hust.edu.cn;丁汉,男,1963年出生,博士,教授,博士研究生导师。主要研究方向为数字化制造与机器人化智能制造。E-mail:dinghan@hust.edu.cn
基金资助:
国家自然科学基金(52090054，52188102)和湖北省自然科学基金(2020CFA077)资助项目。

Survey of Automated Flexible Docking Assembly Technology for Large-scale Components

ZHAO Huan, GE Dongsheng, LUO Laizhen, YIN Yecan, DING Han

State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074

Received:2022-08-01 Revised:2023-01-25 Online:2023-07-20 Published:2023-08-16

摘要/Abstract

摘要： 大型构件对接装配是航空航天大型飞行器总装中的重要环节，随着具有快速响应需求的航天任务越来越多(如发射应急卫星和商业通信卫星等)，亟需提升运载火箭等大型飞行器的快速组装和发射能力。这对大型飞行器舱段对接装配的效率和可靠性提出了更高要求。因此，对接装配模式从原来的人工模式，正逐渐向自动化、数字化、智能化方向发展。针对大型构件自动化柔性对接装配中所涉及的三大关键技术进行综述，详细总结大型构件对接装配调姿定位机构、数字化测量技术、规划与控制技术的原理、特点与应用，并探讨了大型构件自动化柔性对接装配技术的未来研究方向。

关键词: 大型构件, 对接装配, 调姿定位, 数字化测量, 规划, 控制

Abstract: The docking assembly of large components is an important part of the final assembly of large aerospace vehicles. With the increasing demand for rapid response to space missions, such as launching emergency satellites and commercial communication satellites, it is urgent to improve the rapid assembly and launch capability of large aircraft such as launch vehicles. In order to improve the reliability and efficiency of the docking assembly, the assembly mode is moving from the original manual mode to the direction of automation, digitization, and intelligence. The three key technologies involved in the automatic flexible docking assembly of large components are reviewed. The principle, characteristics and application of the pose adjustment mechanism, digital measurement technology, planning and control technology of large-scale component docking assembly are summarized in detail. The future research directions of automatic flexible docking assembly technology for large-scale component are also discussed.

Key words: large components, docking assembly, pose adjustment, digital measurement technology, planning, control

中图分类号:

V465
V262

赵欢, 葛东升, 罗来臻, 尹业灿, 丁汉. 大型构件自动化柔性对接装配技术综述[J]. 机械工程学报, 2023, 59(14): 277-297.

ZHAO Huan, GE Dongsheng, LUO Laizhen, YIN Yecan, DING Han. Survey of Automated Flexible Docking Assembly Technology for Large-scale Components[J]. Journal of Mechanical Engineering, 2023, 59(14): 277-297.

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大型构件自动化柔性对接装配技术综述

Survey of Automated Flexible Docking Assembly Technology for Large-scale Components

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