Concept Plan and Simulation of On-Orbit Assembly Process Based on Human-Robot Collaboration for Erectable Truss Structure

摘要

Considering the future construction of large erectable truss structure in space station, concept design and simulation of on-orbit assembly task are conducted based on human-robot collaboration. The therbligs level tasks of truss structure are decomposed layer-by-layer according to the characteristics of the truss bay. An assembly task model is established based on hierarchical task analysis. The human and robot functional performances associated with the assembly operation in space are compared and analyzed to establish the description of human-robot ability constraints. The comparing allocation principle is adopted to determine the distribution of human and robot collaborative assembly task. DELMIA is used to simulate the assembly process of truss bay and the feasibility of human-robot collaboration is verified.