| 机器人在卫星舱板装配中的应用研究 |
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| 引用本文： | 邱铁成,张 满,张立伟,赵 璐,徐奕柳.机器人在卫星舱板装配中的应用研究[J].航天器环境工程,2012,29(5):579-585. |
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| 作者姓名： | 邱铁成 张 满 张立伟 赵 璐 徐奕柳 |
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| 作者单位： | 北京卫星环境工程研究所,北京 100094 |
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| 摘 要： | 因卫星部分外舱板上需要安装有效载荷,而载荷与卫星主结构之间有多束电缆连接。舱板的安装通常需要使用翻转工装,为了保证舱板的安装精度,在装配过程中要求多名装配工人相互配合才能完成。文章对目前卫星舱板装配过程进行了分析,结合舱板安装实际,提出了机器人辅助自动化装配、半自动化装配方案及其运动路径基本算法。方案的实现有助于推动卫星自动化装配的进程,并提高装配工作效率。
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| 关 键 词： | 机器人 自动化装配 舱板安装 结构设计 运动模式 |
| 收稿时间： | 2012/8/12 0:00:00 |
The satellite board assembly with robot |
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| Qiu Tiecheng,Zhang Man,Zhang Liwei,Zhao Lu and Xu Yiliu.The satellite board assembly with robot[J].Spacecraft Environment Engineering,2012,29(5):579-585. |
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| Authors: | Qiu Tiecheng Zhang Man Zhang Liwei Zhao Lu and Xu Yiliu |
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| Institution: | (Beijing Institute of Spacecraft Environment Engineering,Beijing 100094,China) |
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| Abstract: | As there are instruments mounted on the satellite outer boards that are connected to the satellite structureby some cables, there should be a proper brace that could uphold and overturn them for the satellite cabin board assembly, and many ship-fitters are required to work in close cooperation to ensure the assembly precision. This paper analyzes the process of the satellite board assembly and proposes a way to complete the assembly process with robot automatically or semi-automatically, to enhance the assembly precision and the work efficiency. |
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| Keywords: | robot automatic assembly cabin board assembly structure design movement pattern |
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