Design and Stiffness Optimization of Bionic Docking Mechanism for Space Target Acquisition

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.

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

“…For example, a four-DOF variable topology polyhedron docking mechanism was proposed in , and verified the practicability of the structure. In Xu et al (2021), a detachable, low-cost and simple manufacturing small docking mechanism was designed, which has good tolerance and soft docking capability under asymmetric docking conditions. Besides, a new space service-oriented variable topology polyhedron docking mechanism was proposed in , which uses a three-degree-of-freedom three-RSR parallel mechanism to adjust the attitude of the docking mechanism and the clamped docking target.…”

“…In , a dual arm flexible space manipulator system for post grasping manipulation of passive target objects was designed and a suitable control strategy combining Jacobian Transpose and Proportional-Derivative controls for mission accomplishment has been studied. An autonomous robot-based approach is presented to achieve safe and reliable docking between a manipulator system and a client satellite, in Xu et al (2021), and an impedance control strategy is added to the controller of a conventional robotic manipulator to allow compliant and safe manipulation of a spacecraft docking mechanism.…”

“…In recent years, with the development of unmanned docking technology (Chen et al , 2020; Chen and Qiao, 2020; Qiao et al , 2022; Yang et al , 2018; Li et al , 2017; Xue et al , 2022; Li et al , 2015), people have put forward higher requirements for the accuracy and stability of unmanned docking, especially for autonomous docking of unmanned vehicles and other fields (Li et al , 2021; Chen et al , 2021; Zhao et al , 2023; Wang et al , 2021). How to quickly and accurately achieve unmanned autonomous docking of ground vehicles has become a research hot spot (Qiao et al , 2014; Chen and Qiao, 2020; Li et al , 2018; Su et al , 2021; Qiao et al , 2001; Yang et al , 2014).…”