Abstract
Aiming at the soft contact problem of space docking, a bionic docking mechanism for space target acquisition is proposed to realize the buffering and unloading of six–dimensional spatial collision through flexible rotating and linear components. Using the Kane method, an integrated dynamic equation of the bionic docking mechanism in space docking is established, and the stiffness optimization strategy is carried out based on angular momentum conservation. Based on the particle swarm optimization (PSO), a stiffness optimization scheme was realized. Through the numerical simulation of the bionic docking mechanism in space docking, the stiffness optimization was achieved and the soft contact machine process is verified. Finally, through the docking collision experiments in Adams, the results indicate that the proposed bionic docking mechanism can not only prolong the collision time to win time for space acquisition, but also buffer and unload the six–dimensional spatial collision caused by space target docking.
Highlights
As the key equipment for space target acquisition, space docking and transposition is the core technology that all aerospace powers strive to develop [1,2,3,4,5]
The design of new space docking mechanisms to realize soft docking is still a research hotspot of many scholars Feng et al [6] developed a new type of end effector prototype by combining the tendon–sheath transmission system with a steel cable snaring mechanism
Zhang et al [16] proposed ahigh temperature superconducting magnetic docking mechanism which consisted of a high temperature superconductor (HTS) bulk installed on a target spacecraft module and an electromagnet installed on a tracking spacecraft module based on the flux pinning effect of an HTS
Summary
As the key equipment for space target acquisition, space docking and transposition is the core technology that all aerospace powers strive to develop [1,2,3,4,5]. Beginning from the flexible control and motion planning of the spaceborne capture mechanism, Wei et al [24] proposed the impedance control method of flexible manipulator assisted large load space cabin docking and verified its effectiveness. Chu [36] applied controllable damping to the interior of the manipulator and minimized the impact of space docking on the free–floating base through a particle swarm optimization (PSO) algorithm. (1) A bionic docking mechanism for space target acquisition is designed to realize the buffering and unloading of spatially six–dimensional collision caused by space target docking. (2) An integrated dynamic equation of the bionic docking mechanism in space docking and a stiffness optimization strategy based on the angular momentum conservation are proposed.
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