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

摘要： 为满足航天器舱段对接装配的高精度、自动化需求,提出一种基于自动化手段的大型舱段对接装配技术,即水平对接技术。从理论的角度介绍了该技术的工作原理,阐述了其基于并联机构的位姿控制和力随动控制两大技术要点,进行了舱段水平对接装配试验。通过实验证明了位姿控制方式能将销钉轴线位姿精度从0.3mm提高到0.1mm,满足舱段对接在销钉插入销孔阶段的位姿精度要求,同时证明了力随动控制能根据支链力变化实时变换舱段位姿,满足舱段对接在压紧密封圈阶段的舱段小变形要求。

关键词: 舱段装配, 水平对接, 并联机构, 位姿控制, 力随动控制