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采用自动铺丝技术成型卫星反射器面板,通过机器人平台进行自动铺丝试验。根据反射器面板抛物线方程特性,采用等距偏移方法规划铺丝轨迹;通过分析自动铺放过程中铺放压力、铺放覆盖完整性以及铺放平整性对轨迹规划的要求,确定铺放压力为0.2 MPa、铺放丝束为4丝束。同时对机器人连杆机构及参数进行分析,基于CATIA软件DMU模块对铺丝轨迹进行仿真,并在26℃、16 mm/s铺放速度下通过自动铺放试验验证了反射器面板自动铺丝工艺成型的可行性。
Using automatic wire laying technology, the satellite reflector panel is formed and tested automatically by the robot platform. According to the characteristics of the parabolic equation of the reflector panel, the path of the laying wire is planned by using the equidistant offset method. The laying pressure, the coverage integrity of the laying and the requirements of the laying plan on the trajectory planning are analyzed to determine the laying pressure 0.2 MPa, laying tow 4 tow. At the same time, the robot linkage mechanism and parameters were analyzed. Based on the CATIA software DMU module, the laying path was simulated. The automatic laying process of the reflector panel was verified by automatic laying test at 26 ℃ and 16 mm / s. Feasibility of molding.