A Dimensional Design Problem of a Parallel Manipulator for the Space Docking Test System According to a Prescribed Workspace and Performance Indices

Cao, Rui; Gao, Feng; Zhang, Yong

doi:10.1115/detc2014-34210

Cited by 1 publication

(1 citation statement)

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“…In Lee et al (2001), a high-precision integration method of using six-DOF parallel mechanism for spacecraft docking was proposed, which solved the practical engineering problems encountered. Besides, in Cao et al (2014), a six-DOF series parallel precision positioning system was proposed, which is composed of two compact three DOF parallel mechanisms, which can expand the workspace and improve the flexibility of the operating end.…”

Section: Introductionmentioning

confidence: 99%

Stewart-inspired parallel spatial docking robot: design, analysis and experimental results

Zhan

Zhang

Chen

et al. 2023

RIA

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Purpose This paper aims to focus on the spatial docking task of unmanned vehicles under ground conditions. The docking task of military unmanned vehicle application scenarios has strict requirements. Therefore, how to design a docking robot mechanism to achieve accurate docking between vehicles has become a challenge. Design/methodology/approach In this paper, first, the docking mechanism system is described, and the inverse kinematics model of the docking robot based on Stewart is established. Second, the genetic algorithm-based optimization method for multiobjective parameters of parallel mechanisms including workspace volume and mechanism flexibility is proposed to solve the problem of multiparameter optimization of parallel mechanism and realize the docking of unmanned vehicle space flexibility. The optimization results verify that the structural parameters meet the design requirements. Besides, the static and dynamic finite element analysis are carried out to verify the structural strength and dynamic performance of the docking robot according to the stiffness, strength, dead load and dynamic performance of the docking robot. Finally, taking the docking robot as the experimental platform, experiments are carried out under different working conditions, and the experimental results verify that the docking robot can achieve accurate docking tasks. Findings Experiments on the docking robot that the proposed design and optimization method has a good effect on structural strength and control accuracy. The experimental results verify that the docking robot mechanism can achieve accurate docking tasks, which is expected to provide technical guidance and reference for unmanned vehicles docking technology. Originality/value This research can provide technical guidance and reference for spatial docking task of unmanned vehicles under the ground conditions. It can also provide ideas for space docking missions, such as space simulator docking.

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Section: Introductionmentioning

confidence: 99%