The Motion Analysis of Multi-degree-of-freedom Assembly System in Space Station

摘要

Spacecraft assembly is the final stage and the key link in the realization of functionality and performance of aerospace products, through the introduction of multi-degree-of-freedom assembly system in the intelligent assembly process of the large space station, the intelligent assembly of large-scale products in the sealed capsule is realized. In this paper, based on three elements, those are the spacecraft, the product to be installed and the multi-degree-of-freedom assembly system, a motion model of the multi-degree-of-freedom assembly system is established, the movement trajectory of multi-degree-of-freedom assembly system is analyzed detailly, according to the principle of inverse kinematics, path planning of the multi-degree-of-freedom assembly system is carried out. Through the simulation software, the trajectory and path of the multi-degree-of-freedom assembly system are simulated, the assembly path of the product in the sealed space of the space station is obtained. Finally, by constructing the virtual environment of spacecraft assembly, the theoretical model and the calculation results are verified. Through analyzing the path planning of multi-degree-of-freedom assembly system in space station, intelligent assembly of spacecraft products is achieved.