Analytical Model of Dimensional Variation in Auto-Laydown Robot for Space Solar Module

Abstract

This paper presents the dimensional deviation process decomposed into six independent steps in accordance with the six rigid body motion components. Since translational deviations are the same for the whole part, we focus on the rotational movement. The kinematics equations for rigid body motions are simplified through linearization. The simplified formulations explicitly relate the dimensional deviations of a rigid part with its datum scheme configuration and dimensional variations at datum target points. This simplified approach can be used with either the first order Taylor series approximation or Monte Carlo simulation to study the statistical characteristics of datum scheme variations. In order to verify the model, an example is generated from the assembly process of an autolay down robot. The auto-lay down robot, consists of the mechanisms of adhesive dispensing and autolay down, a pneumatic system and a control system.