Research On Human-robot Collaborative Assembly Task Allocation Of Space Vertical Truss Bay

HRC is an important development direction for the research of space truss on-orbit assembly.Based on the space pre-research project and aiming at the on-orbit assembly of large space vertical trusses,this thesis proposes a capability-based method for HRC assembly task allocation of space vertical truss bay and carries out ground test.The main research contents of this paper are as follows:By analyzing the characteristics of space vertical truss bay assembly task,it is hierarchically divided into element layer and strut layer.The assembly process of a strut is analyzed qualitatively and quantitatively by using Therbligs,and the corresponding property are determined.Based on HTA,the task model of space vertical truss bay assembly is established.By analyzing the characteristics of Human-Robot capability in space environment,the capability constraints in space vertical truss assembly scene are determined.A system of HRC assembly task allocation for truss bay assembly is established,which takes the task model and Human-Robot capability constraints as input and task allocation result as output.According to the process of task allocation,the task allocation is realized.Based on the space vertical truss assembly scene,the simulation scene is built in VREP.By task simulation,the trajectory and assembly direction of each strut are determined,and the task allocation result is refined.MTM and RTM are used to analyze the time and determine the final assembly plan.The control system of truss bay assembly is designed and implemented.Through the ground test platform,ground test of truss bay assembly in HRC is carried out to verify the effectiveness of the task allocation result and the system.