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

doi:10.3901/JME.2023.16.233

Abstract

Abstract: 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.

Key words: assembly features, space constraints, behavioral characteristics, type design, hybrid

CLC Number:

TH161

CAI Dajun, YAO Jiantao, GAO Weihua, YI Wangmin, ZHAO Yongsheng. Type Design Method and Application for Spacecraft Large Component Assembly Robot Based on Features Constraint Relationship[J]. Journal of Mechanical Engineering, 2023, 59(16): 233-242.

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