【作者】 黄勇；

【导师】 王见；

【作者基本信息】 重庆大学 ， 工程（机械工程）（专业学位）， 2021， 硕士

【摘要】 航天器舱段对接装配是航天器产品生产过程中的重要环节,传统的对接方式需工人通过试装后再进行装配,人工对接装配存在装配效率低、装配周期长、工作强度高等缺点难以满足快速发展的实际生产需求。为避免人工装配的缺点,本文研制了一套自动对接系统,并对其中混联调姿机构设计、空间位姿拟合和轨迹规划等技术进行了重点研究。设计了自动对接系统,并分别对自动对接系统的三个子系统进行了简要介绍;阐述了激光跟踪仪测量理论和坐标变换理论;研制了一套由平面三自由度调姿机构与水平三自由度调姿机构两种并联机构串联而成的精密对接装置,用于航天器舱段的自动对接装配任务;根据封闭矢量法求解了机构位置逆解的数学模型,并求得各驱动运动副的速度、加速度解析表达式。结合航天器舱段法兰安装孔均布,且精度高的特点,利用激光跟踪仪测量安装于航天器舱段法兰测量靶球,根据三点法,求解航天器舱段的空间初始位姿。再将三点法求解位姿作为Levenberg-Marqurdt(LM)法初始值拟合出航天器舱段精确的空间位姿。通过仿真实例,验证了该方法具有误差小、准确性高的特点。研究非均匀五次B样条曲线的构造方法,在笛卡尔空间中用非均匀五次B样条曲线规划出对接平台末端轨迹。基于运动学和动力学,建立了机构完成对接装配任务的能耗模型。考虑运动学和动力学约束,利用人工蜂群优化算法获得优化后的混联调姿机构对接平台末端非均匀五次B样条轨迹。经过优化后的能耗降到408.5J,各参数在约束范围之内,且满足了驱动运动副位移、速度与速度曲线连续和光滑。根据以上研究,最后通过虚拟样机技术,完成对接装配任务。更多还原

【Abstract】 Spacecraft module docking assembly is an important part in the production process of spacecraft products.The traditional docking method uses professional fixed tooling,which is kind of manual docking assembly after trial assembly.Manual docking assembly has some shortcomings,such as poor assembly consistency,low docking efficiency,long assembly cycle and high labor intensity,that let it uneasy to meet actual production needs under rapid development.For the reasons above,this thesis focuses on technologies,like design of the attitude adjustment mechanism,the pose fitting solution,and the trajectory of the attitude adjustment mechanism,in the automatic docking task of the spacecraft cabins.According to requirements of automatic docking assembly tasks,this thesis presents the entire automatic docking system,introduces working principle of each sub-system,elaborates laser tracker measurement theory and coordinate transformation theory.In addition,a set of precision docking device is created,which composes two parallel mechanisms,plane adjustment mechanism and horizontal adjustment mechanism,for automatic docking and assembly tasks of spacecraft cabins.Based on the closed vector method,the mathematical model of the inverse solution of the mechanism position is solved.Besides,in accordance of the inverse mathematical model,the speed Jacobian matrix and the acceleration Hessel matrix are solved to find out the analytical expressions for the velocity and acceleration of each joint.Firstly,the laser tracker is used to measure the target ball installed on the flange of spacecraft cabins because of the even distribution and high accuracy of the flange mounting holes of the spacecraft cabins.Secondly,according to the three-point method,the initial space pose of spacecraft cabins is calculated.Thirdly,the three-point method to solve the pose is applied as the initial value of the damped least squares method to discover accurate pose of spacecraft cabins.Finally,the effectiveness and accuracy of the pose fitting solution model is verified through numerical simulation.This thesis studies construction method of non-uniform quintic B-spline curve,as well as planning the trajectory of the end in docking platform by the non-uniform quintic B-spline curve in Descartes space.Furthermore,an energy consumption model for the mechanism to complete the docking assembly task is formed based on kinematics and dynamics.Considering the kinematics and dynamics constraints,the hybrid attitude adjustment mechanism is used to dock five-fold B-spline trajectory at the end of the platform.After optimization,the energy consumption is reduced to 408.5J,which meets needs of the continuity and smoothness of the displacement,velocity and acceleration curves of each joint.更多还原