【作者】 夏雨；

【导师】 赵言正；

【作者基本信息】 上海交通大学 ， 机械工程， 2013， 硕士

【摘要】 随着中国航天事业的发展，越来越多的飞行器进入太空，空间太阳阵电源系统作为最主要的空间电源系统也越来越多的出现在浩瀚的太空中。日益增加的需求、更多的应用范围对太阳电池阵电源系统的要求也越来越高。目前国内空间太阳电池阵绝大部分采用手工贴装的操作方法，操作工艺落后，太阳电池碎片率较高，制造成本居高不下。这种手工贴装的操作方法已无法适应新一代太阳电池轻型化和薄型化的发展趋势。作者在参与研制国内第一台空间太阳电池帆板自动贴装机器人的基础上，深入研究了太阳电池组件的抓取稳定性、涂胶过程的质量控制以及布贴加压过程的质量控制等关键问题，主要完成了以下工作：首先，在深入研究空间太阳电池片组件抓取过程、涂胶过程和布贴加压过程后，成功研制出了基于网版印刷法的空间太阳阵自动装配机器人，该机器人采用了丝网印刷法的涂胶方法、刚性体接触加压的布贴加压方式以及独特的抓取太阳电池片组件的机构，然后详细介绍机器人的主要组成部分，包括四自由度机器人、涂胶机构、布贴机构、气动系统、控制系统和软件系统等。其次，针对太阳电池阵装配过程中对装配精度和稳定性要求比较严格的特点，首先对关键的工艺过程进行了运动学和动力学分析，并将机构导入到多体动力学软件Adams中对其进行运动学和动力学仿真；然后对两个关键的接触过程，布贴过程中太阳电池片和太阳帆板的接触过程和涂胶过程中涂胶刮板、太阳电池片、丝网的接触过程进行了仿真，这两个过程直接影响到太阳电池阵装配的两个重要衡量因素：电池片的碎片率和涂胶质量的好坏，由于过程中存在柔性体，我们选择在Ansys软件中建立柔性体，生成有限元模型，然后将得到的结果导入到Adams软件中，进行接触过程仿真，并利用分析的结果进一步优化机器人系统涂胶和布贴工艺过程。然后，提出了自适应数字PID算法和专家模型预测算法，详细介绍这两种算法的原理和实现，并将这两种算法运用到实际的生产过程，取得了较好的结果。最后，为了提高基于网版印刷法的空间太阳阵自动装配机器人运行的稳定性，开发了两个软件模块，包括实时监控模块和故障专家解决模块，首先详细介绍了这两个模块的目的、整体设计思路，然后就这两个模块分别介绍了它们的具体实现过程。更多还原

【Abstract】 With the development of China’s space industry, more and morespacecrafts have been launched into space. The space solar array powersystem also appears more and more in the space as the most important spacepower. The increasing demand and more application advance therequirements of the solar array power system. Now, most domestic spacesolar cells windsurfing depends on manually mount operation, which is dropbehind. Manual operation may lead to the uncontrollable quality of solarwings, and often bring about a lot of overflow solar cells and contaminatesolar cell surface. Manual operation may also lead to the higher rate of celldebris and high manufacturing costs, the mount position accuracy of solarcomponents, the bonding pressure and layer thickness of glue are notcontrollable. This manual placement operation has been unable to adapt tonew generation of solar cells, lightweight and thinner trends.This paper study the stability of holding solar arrays, the controlquality of dispensing adhesive and layer-down solar cells deeply. The mainstudies of this paper as follows.Firstly, After an in-depth study of the process of the holding space solarcells, pasting and bonding, the space solar cell array auto-assembly robotbased on screen printing is developed successfully. The robot applies screenprinting, rigid body contact pressure and unique space solar cells holdingmechanism. Then the paper details the composition of the robot, whichmainly consists Four degrees of freedom robot, pasting mechanism,bonding mechanism and pneumatic systems, control systems and softwaresystem components.Secondly, In the process of solar cells array auto-assembly, assembly precision and stability requirements are more stringent. Firstly, the paperfinished the kinematics and dynamics analysis of the key process, and thenwe put the mechanism into multi-body dynamics software called Adams tocarry on its simulation analysis; Secondly the paper mainly analyzes twocritical contact process, which are the contact process between space solarcells and solar wings in the process of bonding and the contact processamong space solar cells, scraper and mesh in the process of pasting. Thesetwo processes directly affect the solar array assembly two importantmeasurable factors: the fragmentation of the space solar cells and pastingquality. Because these two processes have flexible body, we choose Ansyssoftware to create a flexible body firstly to establish a flexible model, thenmeshing and finally generate a finite element model, and then these flexiblemodels were imported into Adams software to carry on contact processanalysis. Lastly, we can use the results of the analysis to further improve theprocess of pasting and bonding.Thirdly, The paper proposed an adaptive digital PID algorithm andexpert model prediction algorithms, and details the principle and therealization of these two algorithms. Lastly, these two algorithms were usedin the actual production process, and achieved good results.Lastly, in order to improve the stability of the auto-assemblingoperation of the robot, the paper developed two software modules, includingthe real-time monitoring module and the fault experts resolution module.Firstly the paper described the overall design of these two modules, and thenintroduced the process of their implementation in details.更多还原