Motion analysis of the combined linkage mechanismauxiliary assembly system for the Space Station

Spacecraft assembly is the final stage and the key link in the realization of functionality and performance of aerospace products. There are many large-scale products used for on-orbit operation and scientific investigation in the assembly process of the space station. Aiming at the layout and structural form of products in the space station cabin, the combined linkage mechanism auxiliary assembly system is introduced to achieve intelligent assembly of large products in the sealed cabin. In this paper, based on three elements, those are the spacecraft, the product to be installed and the combined linkage mechanism auxiliary assembly system, a motion model of the combined linkage mechanism auxiliary assembly system is established. The movement trajectory of the combined linkage mechanism auxiliary assembly system is analyzed in detail. According to the principle of inverse kinematics, path planning of the combined linkage mechanism auxiliary assembly system is carried out. Through the simulation software, the trajectory and path of the combined linkage mechanism auxiliary assembly system are simulated, and the assembly path of the product in the sealed space of the space station is obtained. Finally, by constructing the virtual environment of spacecraft assembly, the theoretical model and the calculation results are verified. Through analyzing the path planning of the combined linkage mechanism auxiliary assembly system in the space station, intelligent assembly of spacecraft products is achieved.