A study on large parts precision docking method based on 6-axis industrial robot

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	A study on large parts precision docking method based on 6-axis industrial robot
	Guo R(郭锐); Yin J(尹健); Du JS(杜劲松); Lu BL(鲁伯林); Zheng DC(郑德超)
	2019
会议日期	May 25-27, 2019
会议地点	Hangzhou, China
页码	1-10
英文摘要	In view of the docking assembly difficulties of spacecraft large parts, resulting from the irregular contour and the inadequacy of process clamping points, this paper puts forward a method fitting the attitude relations of the docking parts based on the coordinates of the feature points, obtaining the target attitude of the docking parts based on the process constraints, and controlling 6-axis industrial robot achieves precise docking of large parts. Firstly, the composition of the large parts docking system is introduced, and the docking model is described by the selection of the measurement feature points and the establishment of the coordinate system. After that, a docking control algorithm based on the attitude constraints of large parts is established. Finally, In the RobotStudio and Matlab co-simulation environment, the attitude adjustment process of the large parts is simulated. The simulation results show that this study provides an effective method for precision docking of spacecraft engine large parts based on feature points, which is completed by 6-axis industrial robot.
产权排序	1
会议录	2nd International Conference on Mechanical, Electric and Industrial Engineering
会议录出版者	IOP
会议录出版地	Bristol, UK
语种	英语
ISSN号	1742-6588
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/25659]
专题	沈阳自动化研究所_智能检测与装备研究室
通讯作者	Guo R(郭锐)
作者单位	Shenyang Institute of Automation, Chinese Academy of Science, Shenyang 110016, China
推荐引用方式 GB/T 7714	Guo R,Yin J,Du JS,et al. A study on large parts precision docking method based on 6-axis industrial robot[C]. 见:. Hangzhou, China. May 25-27, 2019.