Design and simulation of omnidirectional compliant docking joint for space non-cooperative target

被引：0
作者：
Chu M. [1 ]
Lin S. [1 ]
Xu S. [1 ]
Chang R. [1 ]
机构：
[1] School of Automation, Beijing University of Posts and Telecommunications, Beijing
来源：
Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica | 2023年 / 44卷 / 13期
基金：
中国国家自然科学基金;
关键词：
3R-1T; buffering and unloading; dual-mode of soft amd rigid; non-cooperative target; omnidirectional compliance;
D O I：
10.7527/S1000-6893.2022.28024
中图分类号：
学科分类号：
摘要：
Aiming at the problems of excessive contact force and difficulty in compensating different axis errors during rigid docking of non-cooperative targets in space，a 3R-1T omnidirectional compliant docking joint is developed，which can not only generate passive flexible motion to compensate errors of distance or angle，but also buffer and unload six-dimensional contact force in space. Moreover，it can realize rigid-flexible dual-mode conversion operation by means of locking mechanism. The flexible dynamic model of spacecraft complex with compliant docking joint is established by using Lagrange’s equation containing dissipation function. A contact force simulation model is established，which verifies the mechanism of omnidirectional compliance and damping stabilization. Furthermore，two non-cooperative target docking models，rigid and flexible，are built. The simulation experiments under 24 typical combined errors of distance and angle shows that the success rate of compliant docking is nearly 5 times that of rigid docking，and the peak value of contact force decreases up to 89. 5%. Therefore，the rationality and effectiveness of 3R-1T omnidirectional compliant docking joint applied to space compliant docking task are verified. © 2023 AAAS Press of Chinese Society of Aeronautics and Astronautics. All rights reserved.
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