多维大偏差刚性对接研究及机构设计

Research and Mechanism Design of Rigid Docking Applied for Multi-dimension Position/Orientation Offset

针对野外崎岖地形、太空站舱内等复杂狭窄操作环境中的刚性对接问题,构造了一种刚性对接位姿偏差评估指数,建立了目前常见对接导引方式的几何约束模型,并采用偏差评估指数就对接导引方式的约束效果进行了衡量和比较,提出逐级消除位姿偏差的基本对接方法。在此基础上设计了用于多维大偏差刚性对接的少自由度混联刚性对接机构,就对接过程中各阶段位姿偏差的变化情况进行分析,并给出刚性对接机构的具体设计参数、最大对接位姿允差和与之相对应偏差评估指数。最后,搭建了JL-2多维大偏差刚性对接机构样机平台,并进行了相关实验,实验结果与理论计算值基本相符,证明该设计方案可有效满足多维大偏差情况下的刚性对接要求。

In this article, rigid docking technologies applied in complex working conditions： such as field rugged terrain outdoors, narrow space capsule, are specially mentioned, and a new evaluation indexes of position/orientation offset are introduced. This article builds geometric constraint models of common aligning methods applied nowadays, and makes a comparison among all methods by the evaluation indexes,as a result, gives out a ＂step-by-step＂ docking solution corresponsively. A new type of no-full degree of freedom （DOF） hybrid rigid docking mechanism, which combines several aligning methods mentioned in this article, is designed to eliminate multi-dimension position/orientation offset. This article analyzes the variation of position/orientation offset during the transition of different docking stages. Mechanism design parameters, maximum of allowable position/orientation offsets and corresponding evaluation indexes are also calculated and explained. Finally, this article developes JL-2 multi-dimension position/orientation offset docking mechanism platform and makes corresponding experiments. Experiment results meet theoretical values basically and testify the docking solution and physical design can work effectively.