In the assembly process of the satellite, there will be multiple installation and disassembly operations for the solar wing and the main satellite body (or simulator). However, the traditional method of orientation adjustment by theodolite and two-axis turntable is difficult to coordinate three rotation angles of yaw, pitch and roll, which leads to the complexity of actual operation and dependency on manual experience. Therefore, this paper aims to propose a new method to achieve rapid and precise orientation adjustment.
The similarity relation of the orientation variation matrix in a different coordinate system is studied, and a mapping model of the similarity relation is established. By using multiple element matrices to construct the original rotation matrix, the mapping is solved in quaternion form. Taking the theodolite as a measuring instrument and the Stewart platform as a control equipment, an experiment on installing the solar wing is performed to validate the effectiveness of the algorithm.
Based on the solving algorithm, the orientation adjustment process is simplified to a three-step fixed mode, which is three adjustments to get the parameter of the mapping model, one to adjust the component in place and another to further fine tuning. The final orientation deviation is less than 0.003° and close to the level of using a laser tracker, achieving the required accuracy of 0.0115°.
This paper reveals the similarity relation of the variation matrix in the process of orientation adjustment and presents a new method to achieve rapid and precise orientation adjustment for the large-scale component.
This study was co-supported by the National Defense Basic Scientific Research (No. JCKY2013206C003) and the Open Fund of the State Key Laboratory of Precision Measurement Technology and Instruments (No. PIL1404).
Wu, D. and Du, F. (2018), "A new method of precise orientation adjustment based on matrix similarity for large-scale component", Assembly Automation, Vol. 38 No. 2, pp. 207-215. https://doi.org/10.1108/AA-01-2017-010Download as .RIS
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