The invention relates to a space large antenna on-orbit assembly system and method using a robot, and belongs to the technical field of space robot intelligent operation. The system comprises an antenna structure subsystem and a robot structure subsystem. The antenna structure subsystem comprises a deployable antenna unit, the deployable antenna unit is of a hexagonal framework type structure, a space deployable antenna with the hexagonal upper surface is composed of three foldable tetrahedron rod pieces and six truss rods connected with a tetrahedron, and the lower surface is a triangle composed of three tetrahedron vertexes. Except for the bevel edge, the folding device can be folded to perform folding action; according to the robot subsystem, a seven-degree-of-freedom mechanical arm with an offset elbow joint is adopted to form a robot body, corresponding clamping jaws are arranged at the two ends of the mechanical arm, an autonomous robot with the two tail ends capable of crawling is formed, and the robot can be grabbed on a truss rod of an antenna unit to be assembled. The problems of robot configuration, assembly flow and intelligent planning in the assembly process in the space robot assembly process are solved.
本发明涉及一种使用机器人的空间大型天线在轨装配系统与方法,属于空间机器人智能操作技术领域。系统包括天线结构子系统、机器人结构子系统;天线结构子系统包括可展开天线单元,可展开天线单元为六边形的构架式结构,上表面为六边形的空间可展开天线由三个可折叠的四面体杆件与六根连接四面体的桁杆组成,下表面为三个四面体顶点组成的三角形;除了斜边均可折叠以进行收拢动作;机器人子系统采用肘关节偏置的七自由度机械臂组成了机器人的主体,机械臂的两端均有相应的夹爪,形成了双末端可进行爬行的自主机器人,可以抓取在待装配的天线单元的桁杆上。解决了空间机器人装配过程中机器人构型、装配流程以及装配过程中的智能规划问题。
Space large-scale antenna on-orbit assembly system and method using robot
一种使用机器人的空间大型天线在轨装配系统与方法
2024-09-27
Patent
Electronic Resource
Chinese
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