关键词: 协作机器人, 空间展开机构, 微重力装配, 测量辅助装配, 临界阻尼

Abstract: The current gravity compensation methods for the truss hinges of large-scale space deployable mechanism are usually complicated,time consuming and poor accuracy.For this reason,an advanced microgravity assembly method assisted by collaborative robot was proposed to overcome the shortcomings of the existing methods.The architecture and process of microgravity assembly system were proposed.Visual Guidance combined with bounded deviation joint path planning method was used to realize the fast automatic grasping of truss hinge.Then,the kinematics model of the robot based on D-H was constructed,and the Newton-Raphson iterative method was used to realize the on-line compensation of pose error.The equivalent model of gravity compensation was constructed,and the impedance control method based on inner loop position control was used to realize the automatic and stable gravity compensation process.The experimental results showed that the position accuracy of the proposed method met the assembly requirements of the truss hinge component and realized the gravity compensation process in critical damping state,which provided theoretical basis and technical support for high precision assembly and gravity compensation of key components of large space deployable mechanism.

Key words: collaborative robot, space deployable mechanism, microgravity assembly, measurement assisted assembly, critical damping