Microgravity assembling system and method based on cooperative robot and wearable equipment

Abstract

The invention discloses a microgravity assembling system and method based on a cooperative robot and wearable equipment. The system comprises a server (1), a laser tracker (2), a top six-dimensional force sensor (4), the cooperative robot (6), a one-way force sensor (8), an assembling platform (11) and the wearable equipment (10). According to the microgravity assembling system and method based onthe cooperative robot and the wearable equipment, the microgravity assembly of a truss hinge of a spatial unfolding mechanism is realized by adopting the cooperative robot with the six-dimensional force sensor at the tail end, and compared with an existing gravity unloading mode of the spatial unfolding mechanism, the system not only can realize accurate spatial pose adjustment of the truss hinge, but also can realize automatic gravity unloading.

Description

technical field [0001] The invention belongs to the field of assembly technology for simulating a microgravity environment during the ground assembly process of a space mechanism, and relates to a microgravity assembly system and method based on a collaborative robot and a wearable device. Background technique [0002] The space deployment mechanism is an important support foundation for solar panels and radar antennas on spacecraft such as satellites, space probes, and space stations. It is characterized by complex structures, large scales, light weight, and weak stiffness. During ground assembly and simulated deployment tests Stress or deformation will be generated by the action of gravity. In the space environment, the disappearance of gravity will easily cause stress release and recovery of structural deformation, thereby changing the contact state of the assembly interface, resulting in changes in the accuracy and performance of the product. The truss hinge is the key c...

AI Technical Summary

Problems solved by technology

The air flotation support method is mainly suitable for mechanisms with complex deployment trajectories and large deployment space. Its advantage is that the gravity unloading effect is good and no friction is introduced. The disadvantage is that it takes up a lot of space and the pipeline layout is complicated. It is necessary to pay attention to the layout of the air circuit during deployment.

The balloon hanging method is suitable for the situation where the expansion mechanism is small, the movement track is short, and the unloading gravity is not large. The advantage is that it is easy to use, but the disadvantage is that the stability of the balloon is poor. Balloon still shaking after locking

The rail pulley hanging type is the most widely used gravity unloading method at present, and has a wide range of applications. It can be used for both small and medium-sized deployment mechanisms. Its advantages are relatively small space occupation, easy operation, mature technology, and disadvantages. is the friction force introduced into the guide rail block

[0004] The above three gravity unloading methods effectively simulate the weightless state of the deployment mechanism suspended in space, and the application effect is good in the ground simulation deployment test of the deployment mechanism, but there are still certain limitations when they are applied to the assembly process of the deployment mechanism , because the key parts of the deployment mechanism (such as truss hinges) need to be adjusted with high precision during the assembly process, the current commonly used gravity unloading method cannot achieve accurate positioning during assembly, and manual adjustments are required. The workload of this process is Large, low efficiency, poor quality consistency

[0005] The existing patent "A Rapid Assembly of Space Truss Units Based on Robots" (patent number: CN201811417551) discloses a method for gravity unloading and docking assembly of truss unit modules using a six-degree-of-freedom attitude adjustment device and an air-floating support device. The method realizes the microgravity simulation and attitude adjustment when the unit module is docked with the star. However, due to the large space occupied by the air buoyancy support device and the attitude adjustment device and the complex overall structure, it is not suitable for the gravity of the assembly process of the key components inside the deployment mechanism. Unloading and pose adjustment

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