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: Cabin docking is a key process in the spacecraft assembly,which is still done manually in the domestic field.In order to improve the assembly quality,efficiency and automation,this paper presents an automatic docking technology in the level direction.Firstly,the paper briefly introduces the principle of this technique,and elaborates its key technologies including the pose control and the force control based on the parallel architectures.Secondly,the cabin level docking tests have been done.Finally,the experiment results demonstrate that the pose control can improve the accuracy of axis pin from 0.3mm to 0.1mm,which meets the requirements in the stage of inserting the pins into the pin holes during the cabin docking.Meanwhile,the force control can achieve real-time cabin posture changes following the branched chain force changes,which meets 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