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.
引用
收藏
相关论文
共 25 条
  • [11] HUANG P F，, ZHANG F, Et al., Dexterous tethered space robot：design，measurement，control，and experiment［J］, IEEE Transactions on Aerospace and Electronic Systems, 53, 3, pp. 1452-1468, (2017)
  • [12] HUANG P F, WANG D K, MENG Z J，, Et al., Impact dynamic modeling and adaptive target capturing control for tethered space robots with uncertainties［J］, IEEE/ ASME Transactions on Mechatronics, 21, 5, pp. 2260-2271, (2016)
  • [13] MOTAGHEDI P，, STAMM S., 6 DOF testing of the orbital express capture system, Proceedings of SPIE-the International Society for Optical Engineering, pp. 66-81, (2005)
  • [14] Impedance-based contact control of a free-flying space robot with a compliant wrist for non-cooperative satellite capture［C］∥2012, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4477-4482, (2012)
  • [15] Experimental evaluation of contact/impact dynamics between a space robot with a compliant wrist and a free-flying object, International Symposium on Artificial Intelligence, (2012)
  • [16] LIU J H., Buffering mechanism and ground experiment for capturing of non-cooperative satellite［D］, pp. 10-17, (2015)
  • [17] OHKAMI Y., Rotational motion-damper for the capture of an uncontrolled floating satellite［J］, Control Engineering Practice, 9, 2, pp. 199-205, (2001)
  • [18] DAI H H，, JING X J，, WANG Y，, Et al., Post-capture vibration suppression of spacecraft via a bio-inspired isolation system［J］, Mechanical Systems and Signal Processing, 105, pp. 214-240, (2018)
  • [19] DAI H H，, JING X J，, SUN C，, Et al., Accurate modeling and analysis of a bio-inspired isolation system：with application to on-orbit capture［J］, Mechanical Systems and Signal Processing, 109, pp. 111-133, (2018)
  • [20] WANG X, DAI H H，, Et al., Vibration suppression for post-capture spacecraft via a novel bio-inspired Stewart isolation system［J］, Acta Astronautica, 168, pp. 1-22, (2020)
123