Based on the concepts of Voronoi diagram that describes geometry information of the robot assembly in C space, the position vector path parameter equation of the assembly movement between the step shaft and two-sided bearing bracket was given. And the path planning strategy of the component initiative assembly was put forward as well. Theoretical analysis proves that using the Voronoi diagram to do the geometry reasoning on the assembly space can evaluate the feasibility of the component assembly, and can present the reference position vector path of the component movement from the initial configuration to the objective configuration, therefore improves the flexibility of the robot initiative assembly.
A bonding process for space solar cells implemented by an automated coating and bonding system was theoretically investigated for future parametric studies to achieve better bonding quality. First, the mechanical properties of silicone adhesive and the vacuum suction cup were experimentally analyzed. Based on the constitutive relationship of four parts in the bonding process, the dynamic bonding process was modeled systematically, and numerically simulated by a commercial finite element analysis code, Adina. The final bonding edge-alignment error and the thickness and uniformity of the adhesive layer were obtained from simulation and validated by experiments. A simulation platform was created for predicting the final bonding quality via adjusting bonding parameters when dimensions of the solar cells and adhesive were changed.
