舱段自动装配位姿求解方法研究

摘要/Abstract

摘要： 在航天器自动化总装过程中需首先确定航天器舱段在装配空间内的准确位姿，为实现舱段位姿的快速精准求解，以圆柱体类航天器舱段结构为例，提出了一种矢量位姿求解法。通过在舱段的圆柱面上合理布设特征点，利用阻尼最小二乘法求解舱段连体坐标系原点在装配空间内的位置矢量，并结合空间圆柱面方程求解舱段连体坐标系的旋转矩阵，进而求得舱段的6个位姿参数。对矢量位姿求解法进行数值仿真，仿真结果验证了该方法的有效性和准确性。

关键词: 舱段装配, 矢量位姿, 阻尼最小二乘法, 圆柱体

Abstract: The accurate posture of spacecraft cabins in the assembly spaces should be determined in the spacecraft assembly production. Taking cylinder class spacecraft cabin structure as an example, a vector posture solving method was proposed to realize the accurate solution of cabin's postures. By laying reasonable feature points on the cylindrical surfaces of cabins, the position vector of origin of bodyfixed coordinate system of cabins in the assembly space was solved using the damped least square method. The rotation matrix of bodyfixed coordinate system of cabins was solved combined with the space cylindrical surface equations, and then the six pose parameters of cabin were obtained. The numerical simulation was conducted on the cabin using the proposed method and the simulation results show its validity and accuracy.

Key words: cabin assembly, vector posture, damped least square method, cylinder

中图分类号:

TP242

金贺荣, 刘达, 于斌, 范秀斌. 舱段自动装配位姿求解方法研究[J]. 中国机械工程.

JIN Herong, LIU Da, YU Bin, FAN Xiubin. Study on Posture Solution Method of Automatic Assembly of Cabins[J]. China Mechanical Engineering.

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