Design And Motion Research Of Aerospace Hybrid Assembly Robot

In this paper,a PPRRP-6UPS hybrid assembly robot with 11 degrees of freedom was designed in order to solve the common problems of heavy load,high precision and narrow working space in the assembly and posture adjustment of large spacecraft.Through theoretical analysis and simulation experiment,the feasibility of the hybrid assembly robot is verified.The main contents of the research are as follows:Firstly,the assembly environment of the space capsule was analyzed.According to the structural characteristics and quality parameters of the installed equipment,the degree of freedom of series module and parallel module was matched,and the configuration design scheme was given.Compared with series mechanism and parallel mechanism,the hybrid mechanism combines the advantages of series mechanism moving in a wide range,strong stiffness and accurate attitude adjustment of parallel mechanism,which improves the precision and mechanical properties of assembly attitude adjustment.Then,the kinematic characteristics of each component of the hybrid mechanism are analyzed,and the kinematic analysis of the series assembly module and the parallel attitude adjustment module of the hybrid mechanism is carried out respectively.The forward and reverse analytical model of the series mechanism was established,and the motion simulation was carried out to obtain the motion position and pose of the series mechanism.The kinematic model of the parallel mechanism was established to solve the kinematic inverse solution of the parallel mechanism,and the parameters of displacement,velocity and acceleration of each branch were solved,which provided the basis for the subsequent dynamic analysis of the hybrid mechanism.Subsequently,combined with the working environment and the load distribution characteristics of the equipment,the force analysis was carried out,the dynamic modeling of the series mechanism was conducted using the Newton Euler method,and the dynamic analysis of the branch bars of the parallel mechanism was conducted using the virtual work principle method.Establish a virtual prototype in Adams software,conduct dynamic simulation analysis,and verify the correctness of dynamic modeling of series and parallel mechanisms.Finally,based on the structural parameters of the hybrid mechanism determined by theoretical calculation and simulation analysis,the overall structure design and optimization were carried out.The path planning of assembly and attitude adjustment and virtual prototype motion simulation were carried out,the experimental prototype was processed,and the assembly and attitude adjustment experiments of torque gyroscope and cabinet components were carried out.Based on the assembly task,a hybrid assembly robot is designed in this paper,which effectively solves the task challenges of heavy load,large size and narrow space installation and attitude adjustment of the assembly equipment in the space capsule,improves the precision and efficiency of space assembly,and promotes the development of space assembly.