Workspace optimization of on-orbit assembly robotic system

When large spacecraft structure on-orbit assembly, the robot needs to have high-precision operation, high rigidity maintenance and large-range movement requirements. Therefore, a 2SPS+RRPRR three-branched parallel robot was constructed. Through the movement platform of symmetry and job rotation, realized the high integration of the moving and positioning function. Then, the inverse solution of rotating end tools on dynamic and static platforms is studied, and the workspace is optimized. On this basis, the physical prototype of the 1.5m span robot was developed. The repeated positioning accuracy test and test were carried out on the six-degree-of-freedom gravity unloading test platform, and the peak-to-peak error of 0.93 mm was reached. The stepped assembly test of the module unit was further completed. Verified the feasibility of high-precision-high-rigidity-high-efficiency on-orbit assembly operations for large-scale spatial structures based on climbing symmetrical parallel robots, and can also provide high-precision and high-rigidity for on-orbit welding, forming and manufacturing activities Positioning and adjusting services.