Ye Shen, Bo Li, Wei Tian, Jinjun Duan and Mingxuan Liu
With the increasing requirements for intelligence in the field of aviation manufacturing, manual assembly can hardly adapt to the trend of future production. The purpose of this…
Abstract
Purpose
With the increasing requirements for intelligence in the field of aviation manufacturing, manual assembly can hardly adapt to the trend of future production. The purpose of this study is to realize the semi-automatic assembly of the movable airfoil by proposing a human-robot collaborative assembly strategy based on adaptive admittance control.
Design/methodology/approach
A logical judgment system for operating intentions is introduced in terms of different situations of the movements; hence, a human cognition-based adaptive admittance control method is developed to curb the damage of inertia; then virtual limit walls are raised on the periphery of the control model to ensure safety; finally, simulated and experimental comparisons with other admittance control methods are conducted to validate the proposed method.
Findings
The proposed method can save at least 28.8% of the time in the stopping phase which effectively compensates for inertia during the assembly process and has high robustness concerning data disturbances.
Originality/value
Due to the human-robot collaboration to achieve compliant assembly of movable airfoils can preserve human subjectivity while overcoming the physical limits of humans, which is of great significance to the investigation of intelligent aircraft assembly, the proposed method that reflects the user's naturalness and intuitiveness can not only enhance the stability and the flexibility of the manipulation, but also contribute to applications of industrial robots in the field of human-robot collaboration.
Details
Keywords
The purpose of this paper is to develop a tri‐axis spacecraft simulator to simulate the three‐axis attitude motion of a satellite and for ground‐based hardware‐in‐the‐loop…
Abstract
Purpose
The purpose of this paper is to develop a tri‐axis spacecraft simulator to simulate the three‐axis attitude motion of a satellite and for ground‐based hardware‐in‐the‐loop simulation.
Design/methodology/approach
The structure of tri‐axis satellite attitude simulator is designed first. Full dynamic model is then derived. Based on the dynamic model, a simple proportional‐integral‐derivative controller is developed and applied to control the motion of simulator.
Findings
The effectiveness of the proposed simulator configuration has been verified through numerical simulations. The tri‐axis simulator can follow the satellite attitude motion precisely.
Originality/value
This paper is valuable for researchers working on the development of tri‐axis spacecraft attitude simulator. This work is original. The simulator configuration has been applied to a satellite mission that was launched successfully in 2006.