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Abstract
According to the condition of the docking of the oceanic space with low visibility,strong sea current and large declining attitude, the rendezvous and docking device based on the 6-DOF parallel mechanism is proposed. A method of the rendezvous and docking operation is discussed between subsea vehicle and deep-sea space station. The mathematic model of the docking device is established after analyzing the structural characteristics and operational principle of subsea vehicle docking device, the momentum of the docking device. In order to satisfy the need of the subsea docking, a moving path is brought forward for the docking device. The impacting analysis of the docking device is conducted under its docking trait, which shows that the docking device could achieve the rendezvous and docking in case of the serious condition in subsea environment.
Published Version
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