Research And Design Of Automatic Posture Adjustment System For Space Deployment Arm Joints

The space deployment arm is a new multi-joint space structure that performs satellite functions.With the continuous increase of space missions,the structure of the space deployment arm has become more and more complex.At present,the focus of the ground assembly of the space deployment arm is to ensure the position accuracy between the joints.The assembly work is basically done manually by workers,so personal experience affects the stability of the space deplo yment arm.In order to solve the above-mentioned problems,this article takes the deployment arm joint as the research object to study the spatial pose acquisition and posture adjustment of the deployment arm joint.The automatic control is realized throug h the cooperation of various modules,and the research and design of the automatic posture adjustment system are completed.In this paper,the overall architecture is designed according to the overall design principles and technical indicators of the system.The system is divided into multiple sub-modules.Among them,the measurement module obtains the spatial pose data of the unfolding arm joints,the software control module is responsible for overall scheduling,and the parallel execution module performs After adjusting the posture movement,the measurement module will feedback the information to the software control module to realize the closed-loop control of the posture adjustment.At the same time,this paper selects and designs system hardware such as six-degree-of-freedom parallel mechanism through related simulation experiments based on the technical indicators of the system,and builds the hardware platform of the system.The spatial pose calculation method of the unfolding arm joint is studied.Fou r electronic theodolites are used as the measurement core,and the reference cube mirror is used as the auxiliary.According to the relevant measurement principles,the electronic theodolite coordinate system is established,and the measurement orientation experiment is carried out;for the measurement module In relation to the coordinate system conversion of the execution module,the RANSAC algorithm combined with least squares is proposed,and relevant experiments are carried out to verify that the designed algorithm has higher efficiency and reliability;in addition,to ensure that the arm joint is free from external force during the posture adjustment process Affected,the six-dimensional force detection module is designed,and the compensation algorithm design for the joint gravity and zero point error.The software is designed and written on the basis of the research of spatial pose measurement and calculation method.The software is developed using the object-oriented development method and the QT framework.Each module software has a communication module,and data communication is realized through the TCP/IP protocol.Finally,the various modules are integrated to complete the system software function test;in order to ensure the safety of the system before the attitude adjustment,the PIVeri Move software is used to simulate the movement limit of the parallel device;the six-dimensional force compensation algorithm is simulated and the algorithm is verified.The feasibility;through the error analysis of the measurement module,it is finally concluded that the deviation can be controlled within 0.03 mm,which shows that the system has good feasibility and stability.