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

Wang Pengfei; Zhang Chengli; Liu Tonghui; Xing Shuai

doi:doi:10.11648/j.sd.20180601.21

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

Wang Pengfei, Zhang Chengli, Liu Tonghui, Xing Shuai

Published in Science Discovery (Volume 6, Issue 1)

Received: 1 May 2018 Published: 23 May 2018

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Abstract

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.

Published in	Science Discovery (Volume 6, Issue 1)
DOI	10.11648/j.sd.20180601.21
Page(s)	62-71
Creative Commons	This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.
Copyright	Copyright © The Author(s), 2018. Published by Science Publishing Group

Keywords

Space Station, Assembly System, Motion Track, Path Planning

References

[1]	航天器装配是航天产品功能和性能实现的最终阶段和关键环节，在超大空间站智能装配过程中引入多自由度装配系统实现密封舱内大型产品的智能装配。本文以航天器、待安装产品以及多自由度装配系统三要素为基础，建立了多自由度装配系统的运动模型，详细分析了多自由度装配系统的运动轨迹，并根据逆运动学原理对多自由度装配系统进行路径规划。采用仿真软件对多自由度装配系统的运动轨迹及路径进行模拟，得到空间站超大航天器密封舱内产品的装配路径，最后构建航天器装配的虚拟环境，通过虚拟仿真来验证理论模型及计算结果。空间站多自由度装配系统的运动分析实现了航天器产品智能装配。

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APA Style

Wang Pengfei, Zhang Chengli, Liu Tonghui, Xing Shuai. (2018). The Motion Analysis of Multi-degree-of-freedom Assembly System in Space Station. Science Discovery, 6(1), 62-71. https://doi.org/10.11648/j.sd.20180601.21

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ACS Style

Wang Pengfei; Zhang Chengli; Liu Tonghui; Xing Shuai. The Motion Analysis of Multi-degree-of-freedom Assembly System in Space Station. Sci. Discov. 2018, 6(1), 62-71. doi: 10.11648/j.sd.20180601.21

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AMA Style

Wang Pengfei, Zhang Chengli, Liu Tonghui, Xing Shuai. The Motion Analysis of Multi-degree-of-freedom Assembly System in Space Station. Sci Discov. 2018;6(1):62-71. doi: 10.11648/j.sd.20180601.21

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@article{10.11648/j.sd.20180601.21,
  author = {Wang Pengfei and Zhang Chengli and Liu Tonghui and Xing Shuai},
  title = {The Motion Analysis of Multi-degree-of-freedom Assembly System in Space Station},
  journal = {Science Discovery},
  volume = {6},
  number = {1},
  pages = {62-71},
  doi = {10.11648/j.sd.20180601.21},
  url = {https://doi.org/10.11648/j.sd.20180601.21},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.sd.20180601.21},
  abstract = {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.},
 year = {2018}
}

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TY  - JOUR
T1  - The Motion Analysis of Multi-degree-of-freedom Assembly System in Space Station
AU  - Wang Pengfei
AU  - Zhang Chengli
AU  - Liu Tonghui
AU  - Xing Shuai
Y1  - 2018/05/23
PY  - 2018
N1  - https://doi.org/10.11648/j.sd.20180601.21
DO  - 10.11648/j.sd.20180601.21
T2  - Science Discovery
JF  - Science Discovery
JO  - Science Discovery
SP  - 62
EP  - 71
PB  - Science Publishing Group
SN  - 2331-0650
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AB  - 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.
VL  - 6
IS  - 1
ER  -

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Author Information

Wang Pengfei

Beijing Institute of Spacecraft Environment Engineering, Beijing, China
Zhang Chengli

Beijing Institute of Spacecraft Environment Engineering, Beijing, China
Liu Tonghui

Beijing Institute of Spacecraft Environment Engineering, Beijing, China
Xing Shuai

Beijing Institute of Spacecraft Environment Engineering, Beijing, China

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Plain Text BibTeX RIS

APA Style

Wang Pengfei, Zhang Chengli, Liu Tonghui, Xing Shuai. (2018). The Motion Analysis of Multi-degree-of-freedom Assembly System in Space Station. Science Discovery, 6(1), 62-71. https://doi.org/10.11648/j.sd.20180601.21

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ACS Style

Wang Pengfei; Zhang Chengli; Liu Tonghui; Xing Shuai. The Motion Analysis of Multi-degree-of-freedom Assembly System in Space Station. Sci. Discov. 2018, 6(1), 62-71. doi: 10.11648/j.sd.20180601.21

Copy | Download

AMA Style

Wang Pengfei, Zhang Chengli, Liu Tonghui, Xing Shuai. The Motion Analysis of Multi-degree-of-freedom Assembly System in Space Station. Sci Discov. 2018;6(1):62-71. doi: 10.11648/j.sd.20180601.21

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@article{10.11648/j.sd.20180601.21,
  author = {Wang Pengfei and Zhang Chengli and Liu Tonghui and Xing Shuai},
  title = {The Motion Analysis of Multi-degree-of-freedom Assembly System in Space Station},
  journal = {Science Discovery},
  volume = {6},
  number = {1},
  pages = {62-71},
  doi = {10.11648/j.sd.20180601.21},
  url = {https://doi.org/10.11648/j.sd.20180601.21},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.sd.20180601.21},
  abstract = {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.},
 year = {2018}
}

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TY  - JOUR
T1  - The Motion Analysis of Multi-degree-of-freedom Assembly System in Space Station
AU  - Wang Pengfei
AU  - Zhang Chengli
AU  - Liu Tonghui
AU  - Xing Shuai
Y1  - 2018/05/23
PY  - 2018
N1  - https://doi.org/10.11648/j.sd.20180601.21
DO  - 10.11648/j.sd.20180601.21
T2  - Science Discovery
JF  - Science Discovery
JO  - Science Discovery
SP  - 62
EP  - 71
PB  - Science Publishing Group
SN  - 2331-0650
UR  - https://doi.org/10.11648/j.sd.20180601.21
AB  - 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.
VL  - 6
IS  - 1
ER  -

Copy | Download