摘要
为提高导弹装配的效率和质量,采用Stewart平台作为调姿定位机构,设计了一套导弹舱段水平自动对接方案。系统阐述了方案的分系统组成和对接流程。详细分析了对接过程中的坐标转换矩阵求解方法、特征点选取原则、舱段干涉防止措施、Stewart平台初始位姿标定方法、对接能否完成的判别方法、舱段位姿误差补偿方法等关键技术。拓宽了导弹装配技术的设计思路,为后续实际对接系统设计提供了理论基础。
A scheme of cabins auto-docking based on Stewart platform is designed for improving the efficiency and quality of missile＇ s as- sembly. The subsystems and the process of this auto-docking scheme are expounded. A quantity of key technologies in the auto-docking process such as solving methods of coordinate-transformation matrix, principles of choosing feature points, measure of avoiding interference between cabins, calibration approach of Stewart platform＇ s initial pose, judgment standard of docking mission accomplishment, and com- pensation approach for correcting pose error in auto-docking are analyzed. This method opens up a new train of thoughts for assembly tech- nology of missile, and lays theoretical basis for the subsequent designing of real auto-docking system.
作者
温晶晶
刘承骛
吴斌
李贵珠
WEN Jingjing;LIU Chengwu;WU Bin;LI Guizhu(School of Astronautics, Northwestern Polytechnical University, Xi＇ an 710072, China;Northwest Industries Group Co. Ltd, Xi＇ an 710043, China)
出处
《弹箭与制导学报》
CSCD
北大核心
2017年第5期47-51,55,共6页
Journal of Projectiles,Rockets,Missiles and Guidance
作者简介
温晶晶（1990-），男，安徽马鞍山人，博士研究生，研究方向：飞行器结构设计、力学环境试验技术。
