| Composite structure plate with secondary surface mirror(OSR)is the basic component of spacecraft shell.At present,the surface mounting of space composite structure board OSR mainly depends on manual work,and the mounting accuracy and efficiency are insufficient.In order to meet this requirement,this paper studies the OSR mounting technology of aerospace composite structure board,in order to realize the glue coating and OSR mounting on the surface of composite structure board of various sizes.The main research work of this paper is as follows:(1)According to the OSR mounting index parameters,the overall structure design of the equipment is completed.Seven-axis manipulator and three-axis motion module are used as the main executing mechanism of the equipment.The manipulator mainly completes the local gluing and OSR cloth of composite structure plate,and the large-area gluing device loaded by the motion module completes the large-area gluing of composite structure plate.A follow-up bin is designed,which can follow the random manipulator arm to complete OSR moving cloth,shorten the loading period,and shorten the theoretical cloth speed.The degree can reach 3000 sheets per hour,and a one-time forming coating scheme based on scraping glue is put forward.(2)The mechanical simulation and kinematics analysis of the main structure of the equipment are carried out.The structural strength and working deformation of the whole frame are analyzed by finite element method,which verifies that the designed structure has enough bearing capacity and stiffness.According to the processing range of workpiece and the required motion accuracy,an appropriate industrial robot is selected,and the motion trajectory of the manipulator is analyzed by forward kinematics.In matlab,the motion trajectory cloud of the end of the manipulator is obtained by Monte Carlo method.The installation position of the manipulator in the equipment is determined so that the end of the manipulator can meet the mounting range of the maximum size structural plate.(3)The hardware system of the coating film is designed,and the OSR mounting path planning algorithm is studied.The design of coating system includes the design of twocomponent colloid feeding system and front-end coating actuator;the design of patch system includes gas path design and front-end OSR suction device design;the packing algorithm is studied.According to the algorithm,a path planning algorithm suitable for OSR mounting of this equipment is proposed.Programming in VC environment verifies that the patch algorithm can achieve fast acquisition of OSR patch points,and MFC is used to construct the interface of human-computer interaction software.(4)An experimental platform was built to verify the feasibility of the coating and OSR mounting schemes.A colloid mixing and transportation experiment system was constructed,and a special coating head for high viscosity adhesive was designed.The coating experiment was carried out on a three-coordinate motion platform.The results of the scraping experiment show that the coating scheme achieves good coating effect and can achieve uniform coating of the adhesive with thickness of about 0.1 mm.An OSR mounting experiment control system was established and a "diamond" feeding bin was designed.By controlling the suction device on the three-coordinate platform to simulate the patching process,it is verified that the scheme meets the requirements of the mounting distance and the design of the loading bin is reasonable. |
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