机器人在轨构建空间桁架结构的装配序列规划方法

Jian Jun Luo; Jia Wen Wang; Ming Ming Wang; Cong Liu

doi:10.3873/j.issn.1000-1328.2021.04.004

机器人在轨构建空间桁架结构的装配序列规划方法

Jian Jun Luo, Jia Wen Wang, Ming Ming Wang, Cong Liu

航天学院

Northwestern Polytechnical University Xian

科研成果: 期刊稿件 › 文章 › 同行评审

7 引用（Scopus）

摘要

Aiming at the assembly sequence planning of space truss structure constructed by robot on orbit, a method is proposed to solve the assembly unit sequence and robot motion simultaneously. Firstly, the assembly robot is designed and its dynamic model is established. Secondly, robot motions in the whole assembly process are classified and the planning and control methods are given. Then, the evaluation index of assembly sequence planning is established and is optimized through discrete particle swarm optimization. Finally, simulation of a common spatial truss structure assembly is perfound to verify the effectiveness of the proposed method.

投稿的翻译标题	Sequence Planning Method for Robotic On-orbit Assemly of Space Truss Structure
源语言	繁体中文
页（从-至）	437-449
页数	13
期刊	Yuhang Xuebao/Journal of Astronautics
卷	42
期	4
DOI	https://doi.org/10.3873/j.issn.1000-1328.2021.04.004
出版状态	已出版 - 30 4月 2021

关键词

Assembly sequence planning
Discrete particle swarm optimization
On-orbit assembly
Robot
Space truss structure

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10.3873/j.issn.1000-1328.2021.04.004

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引用此

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abstract = "Aiming at the assembly sequence planning of space truss structure constructed by robot on orbit, a method is proposed to solve the assembly unit sequence and robot motion simultaneously. Firstly, the assembly robot is designed and its dynamic model is established. Secondly, robot motions in the whole assembly process are classified and the planning and control methods are given. Then, the evaluation index of assembly sequence planning is established and is optimized through discrete particle swarm optimization. Finally, simulation of a common spatial truss structure assembly is perfound to verify the effectiveness of the proposed method.",

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AU - Wang, Jia Wen

AU - Wang, Ming Ming

AU - Liu, Cong

PY - 2021/4/30

Y1 - 2021/4/30

N2 - Aiming at the assembly sequence planning of space truss structure constructed by robot on orbit, a method is proposed to solve the assembly unit sequence and robot motion simultaneously. Firstly, the assembly robot is designed and its dynamic model is established. Secondly, robot motions in the whole assembly process are classified and the planning and control methods are given. Then, the evaluation index of assembly sequence planning is established and is optimized through discrete particle swarm optimization. Finally, simulation of a common spatial truss structure assembly is perfound to verify the effectiveness of the proposed method.

AB - Aiming at the assembly sequence planning of space truss structure constructed by robot on orbit, a method is proposed to solve the assembly unit sequence and robot motion simultaneously. Firstly, the assembly robot is designed and its dynamic model is established. Secondly, robot motions in the whole assembly process are classified and the planning and control methods are given. Then, the evaluation index of assembly sequence planning is established and is optimized through discrete particle swarm optimization. Finally, simulation of a common spatial truss structure assembly is perfound to verify the effectiveness of the proposed method.

KW - Assembly sequence planning

KW - Discrete particle swarm optimization

KW - On-orbit assembly

KW - Robot

KW - Space truss structure

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JO - Yuhang Xuebao/Journal of Astronautics

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机器人在轨构建空间桁架结构的装配序列规划方法

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