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

doi:10.3901/JME.2021.15.015

Abstract

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

CLC Number:

TH112

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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