航天器工程2025，Vol.34Issue(4)：31-42,12.DOI:10.3969/j.issn.1673-8748.2025.04.005
基于误差在线补偿的机器人辅助卫星臂杆装配方法
Robot-assisted Assembly Method for Satellite Arm Based on Online Error Compensation
郑孔帆 1李东升 1刘鹏 2翟雨农 1李旭东 3甄云婷 3文科 4赖小明4
作者信息
- 1. 北京航空航天大学 机械工程及自动化学院,北京 100191
- 2. 北京电子工程总体研究所,北京 100854
- 3. 北京航空航天大学 仪器科学与光电工程学院,北京 100191
- 4. 北京卫星制造厂有限公司,北京 100094
- 折叠
摘要
Abstract
The assembly precision of the deployable antenna boom in remote sensing satellites di-rectly influences detection precision and operational range.Accurate docking between the large-scale arm and its joints is essential during the assembly of the deployable antenna boom.Current-ly,manual arm position adjustment using specialized tooling remains the primary method,resul-ting in low efficiency and precision.To address these limitations,a robot-assisted assembly method is proposed in this paper for large-scale satellite arm based on online error compensation.A global kinematic model of the arm positioning and posture adjustment system is established,and the unknown transformation relations are resolved via a hand-eye calibration algorithm.Ad-ditionally,a flange posture measurement method based on structured light is designed.An online error compensation algorithm for large-scale arm positioning and posture adjustment is derived,and a corresponding compensation program is developed.Experimental validation of arm positio-ning and posture adjustment based on the online error compensation is completed,and the results demonstrated that the proposed method achieves a final docking position error within 0.15mm and a postural error is within 0.015°,thereby meeting the precision requirements for deployable antenna boom assembly.关键词
天线展开臂/臂杆定位调姿/机器人装配/误差在线补偿/视觉测量Key words
deployable antenna boom/arm positioning and attitude adjustment/robotic assembly/online error compensation/visual measurement分类
航空航天引用本文复制引用
郑孔帆,李东升,刘鹏,翟雨农,李旭东,甄云婷,文科,赖小明..基于误差在线补偿的机器人辅助卫星臂杆装配方法[J].航天器工程,2025,34(4):31-42,12.
