Research to Assembly Scheme for Satellite Deck Based on Robot Flexibility Control Principle

[摘要] Deck assembly is critical quality control point in final satellite assembly process, and cable extrusion and structure collision problems in assembly process will affect development quality and progress of satellite directly. Aimed at problems existing in deck assembly process, assembly project scheme for satellite deck based on robot flexibility control principle is proposed in this paper. Scheme is introduced firstly; secondly, key technologies on end force perception and flexible docking control in the scheme are studied; then, implementation process of assembly scheme for satellite deck is described in detail; finally, actual application case of assembly scheme is given. Result shows that compared with traditional assembly scheme, assembly scheme for satellite deck based on robot flexibility control principle has obvious advantages in work efficiency, reliability and universality aspects etc.

[发布机构] Beijing Institute of Spacecraft Environment Engineering, No.104 Youyi Rd., Haidian District. Beijing, China^1

[效力级别] 材料科学

[关键词] Assembly process;Cable extrusion;Collision problem;Control principle;Critical quality;Flexible docking;Implementation process;Key technologies