面向大型卫星的可移动混联机器人加工技术

doi:10.7527/S1000-6893.2021.25731

Abstract

Abstract: Large-scale satellite structural parts are faced with multiple hoisting and transfer risks during the processing. Aiming at the problem of large positioning errors in the "satellite not moving, tool moving" manufacturing method, this paper proposes a new method for processing large-size structural parts with a mobile hybrid robot. Based on the coarse-fine positioning strategy that combines the omni-directional mobile platform with robot vision guidance, the "two-step positioning method" of preliminary positioning and precise positioning is adopted to improve the positioning accuracy of mobile hybrid robot processing. A mobile hybrid robot processing system was constructed, and milling verification experiments on large satellite structures were carried out. The experimental results show that the mobile hybrid robot improves the processing accuracy of the functional surface of the satellite cabin. The processing flatness of the four pressing points within the range of 1600 mm×800 mm reaches 0.08 mm, the coplanarity reaches 0.2 mm, and the distance tolerance is 0.6 mm. The high rigidity of the hybrid robot provides the feasibility for realizing high-precision and efficient in-situ machining of the satellite cabin.

Key words: mobile robot, hybrid robot, large satellite structural parts, milling experiment, positioning accuracy

CLC Number:

ZHANG Jiabo, LIU Haitao, YUE Yi, YANG Jizhi, YI Maobin, WANG Yunpeng, ROU Lei. Mobile hybrid robot processing technology for large satellites[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(5): 625731-625731.

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Mobile hybrid robot processing technology for large satellites

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