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Research on Human-Robot Collaboration Method for Parallel Robots Oriented to Segment Docking.

Deyuan Sun1,2, Junyi Wang2,3,4, Zhigang Xu2,3,4

  • 1School of Mechanical Engineering, Shenyang University of Technology, Shenyang 110870, China.

Sensors (Basel, Switzerland)
|March 28, 2024
PubMed
Summary
This summary is machine-generated.

Human-robot collaboration using parallel robots improves space engine assembly. Advanced control strategies enhance robot compliance and accuracy, preventing collisions during the docking of large cabin segments.

Keywords:
admittance controlfractional-order controlhuman-robot collaborationparallel robotrobust control

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Area of Science:

  • Aerospace Engineering
  • Robotics
  • Control Systems

Background:

  • Assembling large, heavy space engine cabin segments is challenging due to inertial forces causing collisions during docking.
  • Manual assembly is labor-intensive and inefficient for modern aerospace production.
  • Human-robot collaboration offers a promising solution by combining human expertise with robotic precision.

Purpose of the Study:

  • To propose a practical framework for human-parallel-robot collaboration in space engine cabin segment docking.
  • To develop advanced control algorithms to improve robot compliance, responsiveness, and trajectory tracking during collaborative assembly.
  • To mitigate issues related to inertial forces and prevent collisions in heavy-load aerospace assembly.

Main Methods:

  • Implementation of a human-parallel-robot collaboration framework for cabin segment docking.
  • Development of a fractional-order variable damping admittance control for enhanced robot compliance.
  • Integration of an inverse dynamics robust controller for improved trajectory tracking accuracy.
  • Conducting segment docking assembly experiments using a Stewart platform.

Main Results:

  • The proposed framework effectively enables human-parallel-robot collaboration for cabin segment docking.
  • The advanced control strategies significantly enhanced the robot's compliance and responsiveness to interaction forces.
  • The system demonstrated stable motion accuracy and collision prevention even with unknown interaction forces.
  • Experiments confirmed the feasibility and effectiveness of the proposed approach in a simulated production environment.

Conclusions:

  • Human-parallel-robot collaboration, particularly with parallel robots, is a viable solution for complex aerospace assembly tasks like space engine segment docking.
  • The proposed control methods are effective in managing inertial forces and ensuring precise, safe assembly operations.
  • This approach offers a pathway to increased efficiency, accuracy, and safety in aerospace manufacturing.