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Parallel robotic automated docking method for realizing space segment assembly.

Deyuan Sun1,2, Ruihan Xu3, Junyi Wang2,4,5

  • 1Huazhong University of Science and Technology, Wuhan, China.

Scientific Reports
|February 17, 2025
PubMed
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This summary is machine-generated.

Automated docking using parallel robots prevents rigid collisions in heavy aerospace assembly. This advanced control system ensures precision and efficiency, overcoming limitations of manual processes.

Area of Science:

  • Aerospace Engineering
  • Robotics
  • Control Systems

Background:

  • Assembling large, heavy space segments in aerospace engine production faces challenges with rigid collisions during manual docking.
  • Manual docking is labor-intensive, low in productivity, and relies on operator experience, hindering precision and quality.
  • Parallel robots offer high precision and heavy load capacity, making them suitable for automated assembly.

Purpose of the Study:

  • To present a practical framework for automated docking of heavy aerospace components using parallel robots.
  • To develop a control strategy that prevents rigid collisions during the docking process.
  • To enhance the precision and efficiency of aerospace engine assembly.

Main Methods:

  • Utilizing a Stewart parallel robot for automated docking of heavy aerospace components.
Keywords:
Admittance controlRobust controlSegment dockingSliding controlStewart parallel robot

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  • Implementing fractional-order variable damping admittance control to adjust assembly trajectory based on real-time interaction forces.
  • Developing adaptive robust sliding mode control to improve tracking accuracy for desired poses.

    • Main Results:

    • The proposed framework facilitates automatic docking of heavy aerospace components without rigid collisions.
    • Fractional-order variable damping admittance control effectively prevents rigid collisions by dynamically adjusting the robot's trajectory.
    • Adaptive robust sliding mode control enhances the robot's tracking accuracy for high-precision assembly.

    Conclusions:

    • Automated docking using parallel robots with advanced control strategies offers a viable solution for precise and efficient assembly of heavy aerospace components.
    • The developed control methods, including fractional-order variable damping admittance control and adaptive robust sliding mode control, ensure collision-free and accurate docking.
    • This framework provides an easily implementable solution for practical aerospace production, improving quality and productivity.