Kinematics analysis of composite space capture systems based on 3RRS-Bricard

LIU Weihui; LI Xiaohui; WEN Wen; ZHAO Jingchao; YAO Yan'an; LI Ruiming

doi:10.7527/S1000-6893.2020.23922

ACTA AERONAUTICAET ASTRONAUTICA SINICA >

2021 , Vol. 42 >Issue 1: 523922 - 523922

DOI: https://doi.org/10.7527/S1000-6893.2020.23922

Dissertation

Kinematics analysis of composite space capture systems based on 3RRS-Bricard

LIU Weihui ,
LI Xiaohui ,
WEN Wen ,
ZHAO Jingchao ,
YAO Yan'an ,
LI Ruiming

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1. Beijing Key Laboratory of Long-life Technology of Precise Rotation and Transmission Mechanisms, Beijing Institute of Control Engineering, Beijing 100094, China;
2. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China

Received date: 2020-03-02

Revised date: 2020-03-28

Online published: 2020-05-11

Supported by

Stable Support Fund of State Administration Science Technology and Industry or National Defense (HTKJ2019-KL502014); National Natural Science Foundation of China (51805025); CAST Foundation (2018CAST19)

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Abstract

Aiming at cross-scale and multi-target spatial capture tasks, this study analyzes the kinematics of composite capture systems by combining the folding and geometric characteristics of Bricard and 3RRS mechanisms. Based on the analysis of the freedom degree and configuration characteristics of the capture system, the kinematic decoupling of the system is realized by constructing the transformation relationship between Bricard and 3RRS. According to the six-prism model and with the introduction of the Bricard virtual vertex, a kinematic solution method for the composite space capture system is designed. The kinematic and dynamic models of the capture system are built in the simulation environment, and the trajectory tracking experiments conducted for the dynamic capture targets. The effectiveness and advancement of the kinematic algorithm are verified through comparison with the Damped Least Squares (DLS) method based on the closed-loop constraint. The experimental results show that the capture system can achieve smooth cooperative control, with the position tracking accuracy and the attitude accuracy better than 4 mm and 0.035 rad, respectively.

Key words： on-orbit capture; deployable mechanisms; closed-loop constraints; kinematic decoupling; kinematics analysis

Cite this article

LIU Weihui , LI Xiaohui , WEN Wen , ZHAO Jingchao , YAO Yan'an , LI Ruiming . Kinematics analysis of composite space capture systems based on 3RRS-Bricard[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021 , 42(1) : 523922 -523922 . DOI: 10.7527/S1000-6893.2020.23922

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