关键词: 舱段装配, 水平对接, 并联机构, 位姿控制, 力随动控制

Abstract: To improve the assembly quality,efficiency and automation of spacecraft's cabin docking,an automatic docking assembly technology in the level direction was presented.The working principle of this technique was introduced briefly from theoretical overview,and its two key technologies of pose control and force control based on parallel architectures were elaborated.The cabin level docking tests have been done.The experiment results demonstrated that the pose control could improve the accuracy of axis pin from 0.3mm to 0.1 mm,which met the requirements in the stage of inserting pins into pin holes during the cabin docking.Meanwhile,the force control could achieve real-time cabin posture changes following the branched chain force changes,which met the requirements of small cabin deformation in the stage of compressing the seal rings between the two of cabins.

Key words: cabin assembly, level docking, parallel architectures, pose control, force control