The Auto-Assembly Robot Of Spacesolar Cell Arrays Based On Screen Printing

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.