Research on Safety Collision Technology for Micro/Nano Satellite Robot Assembly

In the process of modern industrial production, there are many assembly processes for components, especially the assembly of equipment for aerospace Micro/Nano satellite products, which is usually characterized by many processes and complex processes, and the efficiency of traditional manual operation is low. It is difficult to finish the process with high assembly precision by hand, and the assembly quality of components is easy to be affected by man-made factors. Based on the better dexterity of the light-weight humanoid manipulator, the system construction scheme of the dual-arm cooperative assembly robot is summarized in this paper. The whole-body coordinate system is established and the Jacobian matrix of the whole-body is derived according to the architecture of the two-arm cooperative robot with redundant degrees of freedom. In view of the shared workspace between robots and human beings, and the possibility of accidental collision with human beings, this paper studies the collision control strategy of robots, and makes a preliminary research on collision problems from the point of view of dynamics. The collision function and the collision recognition vector are defined to judge whether the robot collides or not. Then the reaction mechanism of the robot to the collision is given and the safety control strategy is formed. Finally, the application idea of dual-arm cooperative robot in the assembly of Micro/Nano satellite equipment components is described.