工业机器人在航天器装配应用中的质量安全管理
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摘要
为解决航天器装配中大质量设备安装及人员安全保证问题,对工业机器人在航天器装配应用中的质量安全管理进行研究。依据航天器装配中应用工业机器人的特点,通过激光扫描传感器实现机器人移动平台的碰撞预警,对移动平台的防倾覆进行受力分析,采用柔顺控制方法,实现机器人对外界环境的柔顺响应;同时,提出在管理上采取措施以规范、约束操作者的行为,达到在装配过程中的质量保证。该研究可为其他类似的自动化设备应用提供参考。
Aimed at quality and safety assurance for the assembly of heavy work piece in spacecraft, the quality and safety management for assembly application of industrial robot in spacecraft were studied. According to the characteristic of the robot application in spacecraft, the collision warning of the robot mobile platform is realized by the laser scanning sensor, and the anti-overturning property of the mobile platform is ensured by the force analysis in the design. The robot is compliant to the outside world through the compliance control method. At the same time, it is proposed to take measures in management to standardize and constrain the behavior of operators to achieve quality assurance in the assembly process.This study can provide a reference for other similar automation equipment applications.
Aimed at quality and safety assurance for the assembly of heavy work piece in spacecraft, the quality and safety management for assembly application of industrial robot in spacecraft were studied. According to the characteristic of the robot application in spacecraft, the collision warning of the robot mobile platform is realized by the laser scanning sensor, and the anti-overturning property of the mobile platform is ensured by the force analysis in the design. The robot is compliant to the outside world through the compliance control method. At the same time, it is proposed to take measures in management to standardize and constrain the behavior of operators to achieve quality assurance in the assembly process.This study can provide a reference for other similar automation equipment applications.
引文
[1]管贻生,邓休,李怀珠,等.工业机器人的结构分析与优化术[J].华南理工大学学报(自然科学版),2013(9):126-131.
[2]杨峰.机器人模态分析及可靠性分析[D].南京:南京理工大学, 2013.
[3]胡瑞钦,张立建,孟少华,等.基于柔顺控制的航天器大部件机器人装配技术[J].机械工程学报,2016,55(11):85-93.
[4]张立建,胡瑞钦,易旺民.基于六维力传感器的工业机器人末端负载受力感知研究[J].自动化学报,2017,43(3):439-447.
[5]张春柳,孙刚,杨再华,等.基于数据处理的航天器总装过程风险管控[J].兵工自动化, 2018, 37(6):59-63.
[2]杨峰.机器人模态分析及可靠性分析[D].南京:南京理工大学, 2013.
[3]胡瑞钦,张立建,孟少华,等.基于柔顺控制的航天器大部件机器人装配技术[J].机械工程学报,2016,55(11):85-93.
[4]张立建,胡瑞钦,易旺民.基于六维力传感器的工业机器人末端负载受力感知研究[J].自动化学报,2017,43(3):439-447.
[5]张春柳,孙刚,杨再华,等.基于数据处理的航天器总装过程风险管控[J].兵工自动化, 2018, 37(6):59-63.