工业机器人在航天器装配应用中的质量安全管理

为解决航天器装配中大质量设备安装及人员安全保证问题，对工业机器人在航天器装配应用中的质量安 全管理进行研究。依据航天器装配中应用工业机器人的特点，通过激光扫描传感器实现机器人移动平台的碰撞预警， 对移动平台的防倾覆进行受力分析，采用柔顺控制方法，实现机器人对外界环境的柔顺响应；同时，提出在管理上 采取措施以规范、约束操作者的行为，达到在装配过程中的质量保证。该研究可为其他类似的自动化设备应用提供 参考。

Quality and Safety Management for Assembly Application of Industrial Robot in Spacecraft

Aimed at quality and safety assurance for the assembly of heavy work piece in spacecraft, the quality and safety management for assembly application of industrial robot in spacecraft were studied. According to the characteristic of the robot application in spacecraft, the collision warning of the robot mobile platform is realized by the laser scanning sensor, and the anti-overturning property of the mobile platform is ensured by the force analysis in the design. The robot is compliant to the outside world through the compliance control method. At the same time, it is proposed to take measures in management to standardize and constrain the behavior of operators to achieve quality assurance in the assembly process. This study can provide a reference for other similar automation equipment applications.