Study on Cell Configuration Strategy and On-orbit Assembly of Heterogeneous Cells
Aiming at the problems of space facilities construction, based on the multi-level theory of robot system, four kinds of heterogeneous cell modules of space truss on-orbit assembly robots were designed, and a variety of robot configuration schemes for space truss on-orbit assembly were constructed. T...
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| Format: | Article |
| Language: | zho |
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Harbin University of Science and Technology Publications
2021-12-01
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| Series: | Journal of Harbin University of Science and Technology |
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| Online Access: | https://hlgxb.hrbust.edu.cn/#/digest?ArticleID=2035 |
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| author | LYU Jing-wei GAO Yu-fei DAI Ye LIU Zhao-xu QI Yun-shan ZHANG Han-bo |
| author_facet | LYU Jing-wei GAO Yu-fei DAI Ye LIU Zhao-xu QI Yun-shan ZHANG Han-bo |
| author_sort | LYU Jing-wei |
| collection | DOAJ |
| description | Aiming at the problems of space facilities construction, based on the multi-level theory of robot system, four kinds of heterogeneous cell modules of space truss on-orbit assembly robots were designed, and a variety of robot configuration schemes for space truss on-orbit assembly were constructed. The kinematics simulation analysis was carried out for various space truss in-orbit assembly robots, and the relative trajectory curves of joint rotation and assembly motion were obtained during the truss assembly process. The kinematics experiment platform of the robot was built, and the causes of experimental errors were analyzed. The reliability of the robot motion performance and the accuracy of the truss assembly are verified, and the influence of the robot motion error and the truss assembly accuracy is discussed. The results of this study can provide a theoretical and technical support for the configuration and assembly of heterogeneous cell derived from space truss in-orbit assembly |
| format | Article |
| id | doaj-art-72c955fce98749538005d89bc30fb0b2 |
| institution | DOAJ |
| issn | 1007-2683 |
| language | zho |
| publishDate | 2021-12-01 |
| publisher | Harbin University of Science and Technology Publications |
| record_format | Article |
| series | Journal of Harbin University of Science and Technology |
| spelling | doaj-art-72c955fce98749538005d89bc30fb0b22025-08-20T02:53:00ZzhoHarbin University of Science and Technology PublicationsJournal of Harbin University of Science and Technology1007-26832021-12-012606556510.15938/j.jhust.2021.06.008Study on Cell Configuration Strategy and On-orbit Assembly of Heterogeneous CellsLYU Jing-wei0GAO Yu-fei1DAI Ye2LIU Zhao-xu3QI Yun-shan4ZHANG Han-bo5Beijing Satellite Manufacturing Co., Ltd., Beijing 100094, ChinaKey Laboratory of Advanced Manufacturing Intelligent Technology of Ministry of Education, School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, ChinaKey Laboratory of Advanced Manufacturing Intelligent Technology of Ministry of Education, School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, ChinaInstitute of Digital Design and Automatic Machinery Product Development, School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080,ChinaInstitute of Digital Design and Automatic Machinery Product Development, School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080,ChinaInstitute of Digital Design and Automatic Machinery Product Development, School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080,ChinaAiming at the problems of space facilities construction, based on the multi-level theory of robot system, four kinds of heterogeneous cell modules of space truss on-orbit assembly robots were designed, and a variety of robot configuration schemes for space truss on-orbit assembly were constructed. The kinematics simulation analysis was carried out for various space truss in-orbit assembly robots, and the relative trajectory curves of joint rotation and assembly motion were obtained during the truss assembly process. The kinematics experiment platform of the robot was built, and the causes of experimental errors were analyzed. The reliability of the robot motion performance and the accuracy of the truss assembly are verified, and the influence of the robot motion error and the truss assembly accuracy is discussed. The results of this study can provide a theoretical and technical support for the configuration and assembly of heterogeneous cell derived from space truss in-orbit assemblyhttps://hlgxb.hrbust.edu.cn/#/digest?ArticleID=2035kinematicsconfiguration schemecollaborative schemespace trusscell unit |
| spellingShingle | LYU Jing-wei GAO Yu-fei DAI Ye LIU Zhao-xu QI Yun-shan ZHANG Han-bo Study on Cell Configuration Strategy and On-orbit Assembly of Heterogeneous Cells Journal of Harbin University of Science and Technology kinematics configuration scheme collaborative scheme space truss cell unit |
| title | Study on Cell Configuration Strategy and On-orbit Assembly of Heterogeneous Cells |
| title_full | Study on Cell Configuration Strategy and On-orbit Assembly of Heterogeneous Cells |
| title_fullStr | Study on Cell Configuration Strategy and On-orbit Assembly of Heterogeneous Cells |
| title_full_unstemmed | Study on Cell Configuration Strategy and On-orbit Assembly of Heterogeneous Cells |
| title_short | Study on Cell Configuration Strategy and On-orbit Assembly of Heterogeneous Cells |
| title_sort | study on cell configuration strategy and on orbit assembly of heterogeneous cells |
| topic | kinematics configuration scheme collaborative scheme space truss cell unit |
| url | https://hlgxb.hrbust.edu.cn/#/digest?ArticleID=2035 |
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