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 assembly. 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 compensation approach for correcting pose error in auto-docking are analyzed. This method opens up a new train of thoughts for assembly technology of missile, and lays theoretical basis for the subsequent designing of real auto-docking system.