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并行机器人自动对接方法实现空间段组装.

Deyuan Sun^1,2, Ruihan Xu³, Junyi Wang^2,4,5

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

Scientific reports

|February 17, 2025

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此摘要是机器生成的。

使用并行机器人的自动对接可以防止重型航空航天组装中的刚性碰撞. 这种先进的控制系统确保了精度和效率,克服了手工工艺的局限性.

科学领域:

航空航天工程航空航天工程
机器人技术机器人技术机器人技术
控制系统控制系统

背景情况:

在航空航天发动机生产中组装大型,重型空间段面临的挑战是手动对接期间的刚性碰撞.
手动对接是劳动密集型,生产率低,并且依赖于操作员的经验,阻碍了精度和质量.
并行机器人提供高精度和高负载能力,使它们适合自动装配.

研究的目的:

通过使用并行机器人,为重型航空航天部件的自动对接提供一个实用的框架.
开发一种控制策略,以防止在对接过程中发生刚性碰撞.
为了提高航空航天发动机组装的精度和效率.

主要方法:

使用斯图尔特平行机器人用于重型航空航天部件的自动对接.
实现分数级可变减压接入控制,以根据实时交互力调整组件轨迹.
开发适应性强大的滑动模式控制,以提高对所需姿势的跟踪精度.

主要成果:

拟议的框架有助于重型航空航天组件在没有刚性碰撞的情况下自动对接.
分数级可变缓冲接入控制有效地通过动态调整机器人的轨迹来防止刚性碰撞.
适应性强大的滑动模式控制可提高机器人的跟踪精度,用于高精度组装.

关键词:

进入者控制控制进入者控制强大的控制控制.分段对接的部分对接.滑动控制器的滑动控制器斯图尔特平行机器人斯图尔特平行机器人

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结论:

使用具有先进控制策略的并行机器人进行自动对接,为重型航空航天部件的精确高效组装提供了可行的解决方案.
开发的控制方法,包括分数顺序的可变减压接入控制和自适应性强大的滑动模式控制,确保无碰撞和准确的对接.
该框架为实际的航空航天生产提供了一个易于实施的解决方案,提高了质量和生产率.