空间非合作目标全向柔顺对接关节设计与仿真

doi:10.7527/S1000-6893.2022.28024

Abstract

Abstract:

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.

Key words: non-cooperative target, 3R-1T, omnidirectional compliance, buffering and unloading, dual-mode of soft and rigid

CLC Number:

V423

Ming CHU, Shaoqi LIN, Sheng XU, Rui CHANG. Design and simulation of omnidirectional compliant docking joint for space non-cooperative target[J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(13): 428024-428024.

Figures/Tables 17

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Table 1

Parameters of engine nozzle［23］

参数	数值	参数	数值
$d 1$ /mm	30	$s 1$ /mm	260
$r 1$ /mm	120	$θ$ /（°）	20
$s 2$ /mm	400	$d 2$ /mm	64

Table 1

Fig.13

Table 2

List of simulation conditions

工况	$Δ θ = 0 °$	$Δ θ = 5 °$	$Δ θ = 10 °$	$Δ θ = 15 °$
$Δ d = 0 m m$	1	7	13	19
$Δ d = 20 m m$	2	8	14	20
$Δ d = 40 m m$	3	9	15	21
$Δ d = 60 m m$	4	10	16	22
$Δ d = 80 m m$	5	11	17	23
$Δ d = 100 m m$	6	12	18	24

Table 2

Fig.14

Fig.15

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

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