摘要
基于机器人技术和粘性流体力学理论,提出了一种适用于空间太阳电池帆板自动加工的理论方法,对机器人贴装涂胶过程进行了时序分析和涂胶流动特性建模.确定了机器人单片涂胶周期和串联涂胶周期,得到了机器人涂胶运动的宏观时序模型和微观时序模型,及任意时刻机器人对应的涂胶位置坐标,建立了涂胶速度场模型以及胶体流量模型.实验结果表明,机器人能够有效完成预定时序规划下的轨迹涂胶,胶层厚度可控,涂胶区域规则,模型效果理想.
Based on the robot technology and viscous fluid mechanics, the method that applied to the automated manufacturing process of solar arrays was proposed. Time series analysis and modeling simulation of adhesive flow were implemented. The dispensing period of solar cells and solar modules was ascertained. The macro-model and micro-model of time series of the robot motion were acquired, so was the position of the robot anytime. The velocity field of adhesive flow in the needle and the mathematic expression of adhesive flow volume were also achieved. The experimental results illustrate that the robot can accomplish dispensing adhesive in terms of the scheduled tracks. The thickness of adhesive layer can be controlled effectively and the dispensing area is regular.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2007年第1期90-93,共4页
Journal of Shanghai Jiaotong University
基金
国家自然科学基金资助项目(60675040)
关键词
太阳电池帆板
机器人
涂胶
时序分析
solar cell array
robots
adhesive dispensing
time series analysis
