Design And Research On Structure And Control Of Spacecraft Pipeline Assembly Robot

In recent years, especially during the "twelfth five-year" and "thirteenth five-year" period, the launch and development of satellites and spacecraft is increasing year by year. Shortening the assembly cycle time of satellite spacecraft development is increasingly urgent. The traditional pipeline assembly and welding of satellite and manned spacecraft, can only start, after all the capsule, equipments and instruments satellite and spacecraft are prepared. The final trial assembly is influenced by the condition of equipment and instruments, and the assembly cycle time is affected directly by it. So we must shorten the cycle time of pipeline assembly and welding, for improving the reliability of space products as soon as possible.The paper is based on the spacecraft pipeline flexible assembly platform carried out by Beijing Satellite Manufacturer. The spacecraft pipeline flexible assembly platform is developed for shortening the period of pipeline welding and assembly. The paper is about the design and research of structure and control in the spacecraft pipeline assembly robot, it can further short the period of pipeline welding and assembly and have a great significance to improving the reliability of space products.The paper introduces the spacecraft pipeline flexible assembly platform firstly, analyses the working principle and structure design requirements of the spacecraft pipeline assembly robot, design the structure of the robot, including the choice and installation of motor and grating ruler, and the design of the gripper, form the kinematics equation and analyze it. Then we design the control system of the spacecraft pipeline assembly robot, changing cables to Zig Bee remote control module. Use the special CNC control system instead of the control of PMAC card, and design the hardware and software of the special CNC control system. Finally the validation check is made to the system, including the online system debugging and the experiment of setting up pipeline. The application of Zig Bee module in assembly robot can reduce the amount of cable lines plugging during setting up the pipes and save the time. This subject mainly involves some technologies, including mechanical design technology, the computer numerical control technology, Zig Bee technology,robot technology and VC++ technology.The design and research of structure and control in the spacecraft pipeline assembly robot in this paper,make the spacecraft pipeline flexible assembly platform more efficient. It short the period of pipeline welding and assembly and has a big significance on the research and development of satellite, spacecraft and other space vehicles.