Parallel robotic automated docking method for realizing space segment assembly
Abstract Assembling large, heavy space segments presents a significant challenge in aerospace engine production. Rigid collisions often occur during the docking process, impacting the precision and quality of engine assembly. Traditional manual docking depends on workers’ experience to prevent colli...
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| Format: | Article |
| Language: | English |
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Nature Portfolio
2025-02-01
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| Series: | Scientific Reports |
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| Online Access: | https://doi.org/10.1038/s41598-025-89777-5 |
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| _version_ | 1849715651312091136 |
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| author | Deyuan Sun Ruihan Xu Junyi Wang Zhigang Xu Runan Cao |
| author_facet | Deyuan Sun Ruihan Xu Junyi Wang Zhigang Xu Runan Cao |
| author_sort | Deyuan Sun |
| collection | DOAJ |
| description | Abstract Assembling large, heavy space segments presents a significant challenge in aerospace engine production. Rigid collisions often occur during the docking process, impacting the precision and quality of engine assembly. Traditional manual docking depends on workers’ experience to prevent collisions, but it is labor-intensive and low in productivity, making it impractical. Parallel robots, known for their high precision and heavy load capacity, are widely used in precision assembly under heavy load conditions. Therefore, automated docking methods using parallel robots capable of avoiding rigid collisions have emerged as an excellent solution to these issues. This paper presents a framework for easy implementation in practical production. The Stewart parallel robot facilitates automatic docking of heavy aerospace components without rigid collisions. Fractional-order variable damping admittance control is proposed, allowing the robot to dynamically adjust the assembly trajectory based on real-time interaction forces, thus preventing rigid collisions during docking. Additionally, adaptive robust sliding mode control is developed, enhancing the robot’s tracking accuracy for desired poses and making it suitable for high-precision assembly. |
| format | Article |
| id | doaj-art-60cb889e2e9a41d0be9a514a21ef403b |
| institution | DOAJ |
| issn | 2045-2322 |
| language | English |
| publishDate | 2025-02-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj-art-60cb889e2e9a41d0be9a514a21ef403b2025-08-20T03:13:15ZengNature PortfolioScientific Reports2045-23222025-02-0115111710.1038/s41598-025-89777-5Parallel robotic automated docking method for realizing space segment assemblyDeyuan Sun0Ruihan Xu1Junyi Wang2Zhigang Xu3Runan Cao4Huazhong University of Science and TechnologySchool of Mechanical Engineering, University of New South WalesChinese Academy of Sciences, Shenyang Institute of AutomationChinese Academy of Sciences, Shenyang Institute of AutomationChinese Academy of Sciences, Shenyang Institute of AutomationAbstract Assembling large, heavy space segments presents a significant challenge in aerospace engine production. Rigid collisions often occur during the docking process, impacting the precision and quality of engine assembly. Traditional manual docking depends on workers’ experience to prevent collisions, but it is labor-intensive and low in productivity, making it impractical. Parallel robots, known for their high precision and heavy load capacity, are widely used in precision assembly under heavy load conditions. Therefore, automated docking methods using parallel robots capable of avoiding rigid collisions have emerged as an excellent solution to these issues. This paper presents a framework for easy implementation in practical production. The Stewart parallel robot facilitates automatic docking of heavy aerospace components without rigid collisions. Fractional-order variable damping admittance control is proposed, allowing the robot to dynamically adjust the assembly trajectory based on real-time interaction forces, thus preventing rigid collisions during docking. Additionally, adaptive robust sliding mode control is developed, enhancing the robot’s tracking accuracy for desired poses and making it suitable for high-precision assembly.https://doi.org/10.1038/s41598-025-89777-5Segment dockingStewart parallel robotAdmittance controlRobust controlSliding control |
| spellingShingle | Deyuan Sun Ruihan Xu Junyi Wang Zhigang Xu Runan Cao Parallel robotic automated docking method for realizing space segment assembly Scientific Reports Segment docking Stewart parallel robot Admittance control Robust control Sliding control |
| title | Parallel robotic automated docking method for realizing space segment assembly |
| title_full | Parallel robotic automated docking method for realizing space segment assembly |
| title_fullStr | Parallel robotic automated docking method for realizing space segment assembly |
| title_full_unstemmed | Parallel robotic automated docking method for realizing space segment assembly |
| title_short | Parallel robotic automated docking method for realizing space segment assembly |
| title_sort | parallel robotic automated docking method for realizing space segment assembly |
| topic | Segment docking Stewart parallel robot Admittance control Robust control Sliding control |
| url | https://doi.org/10.1038/s41598-025-89777-5 |
| work_keys_str_mv | AT deyuansun parallelroboticautomateddockingmethodforrealizingspacesegmentassembly AT ruihanxu parallelroboticautomateddockingmethodforrealizingspacesegmentassembly AT junyiwang parallelroboticautomateddockingmethodforrealizingspacesegmentassembly AT zhigangxu parallelroboticautomateddockingmethodforrealizingspacesegmentassembly AT runancao parallelroboticautomateddockingmethodforrealizingspacesegmentassembly |