摘要
针对卫星大型部件、重载单机装配中位姿调整、接触应力、重力卸载的控制问题,将机械臂辅助装配技术应用到了卫星装配中,提出了一种基于力传感交互控制的机械臂辅助柔顺装配技术。通过力传感器实时采集了机械臂末端作用力,进行了负载重力参数标定,提取了外力/力矩分量;建立了基于外部作用力/力矩控制的装配体位姿柔顺随动算法,对算法的误差识别及控制方法进行了分析;搭建了机械臂辅助柔顺装配系统,在某卫星结构舱板装配、星上单机装配中进行了应用实验。研究结果表明:力/力矩控制范围下限达到10 N/2 Nm,与传统装配方法相比,该技术具有位姿调整柔顺、装配接触应力可控、负载重力承载/卸载精确、适用于狭窄空间等优势。
Aiming at the control issues for position and posture adjustment, contact stress, unloading gravity during large component or heavy payload assembly to the satellite, the technology of robot arm aided assembly was applied. A compliant assembly technology with robot arm assistance based on force sensing interactive control was presented, through real-time acquisition of force/torque at the end of robot, the load gravity parameters were calibrated, external force/torque was extracted. Then the compliant follow-up algorithm of assembly position and posture was established, based on external force/torque control, the deviations and control methods of the algorithm were analyzed. Meanwhile, a system of robot arm assisted compliant assembly was built, the application experiments were carried out in a large structural cabin plate and a heavy payload assembly to a satellite. The experimental results show that the lower limit of force/torque control range reaches 10 N/2 Nm. Compared with traditional assembly method, this method has the following advantages of compliant adjustment of position and posture, controllable assembly contact stress, accurately carrying and unloading gravity, suitability for assembly with a specific posture among confined space.
作者
刘仁伟
徐晓辉
谢永权
陈小弟
侯鹏
LIU Ren-wei;XU Xiao-hui;XIE Yong-quan;CHEN Xiao-di;HOU Peng(Shanghai Institute of Spacecraft Equipment,Shanghai 200240,China;Shanghai Academy of Spaceflight Technology,Shanghai 201109,China)
出处
《机电工程》
CAS
北大核心
2020年第5期532-536,共5页
Journal of Mechanical & Electrical Engineering
基金
装备预研共用技术项目(41423010401)。
关键词
机械臂
力传感交互
柔顺调姿
卫星装配
robot arm
force sensing interaction
compliant adjustment of position and posture
satellite assembly
