Design and Stiffness Optimization of Bionic Docking Mechanism for Space Target Acquisition
Source abstract
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.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Space Satellite Systems and Control · Planetary Science and Exploration · Astro and Planetary Science
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China
Funding
National Natural Science Foundation of China · Natural Science Foundation of Beijing Municipality
References (45)
Show source-provided references
1. Space docking mechanism technology of spacecraft
2. Review of Spacecraft Electromagnetic Docking Technology Development
3. A review of the end–effector of large space manipulator with capabilities of misalignment tolerance and soft capture10.1007/s11431-016-0084-7 ↗
4. Review of Spacecraft Exposed Payload Adapter Technology
5. A review of space robotics technologies for on–orbit servicing10.1016/j.paerosci.2014.03.002 ↗
6. Development of space end–effector with capabilities of misalignment tolerance and soft capture based on tendon–sheath transmission system10.1007/s11771-013-1825-z ↗
7. Design and research of topological 3–RSR polyhedron docking mechanism
8. Design and Mechanical Analysis for a Three–Arm Non–Cooperative Target Satellite Docking Mechanism
9. The Demonstrations of Flux Pinning for Space Docking of CubeSat Sized Spacecraft in Simulated Microgravity Conditions
10. Autonomous Docking of Hybrid–Wheeled Modular Robots With an Integrated Active Genderless Docking Mechanism10.1115/1.4051519 ↗
11. Shi, K.K., Sun, Z.W., Liu, C., and Ye, D. (2017, January 22–25). Dynamics modeling and simulation of space electromagnetic docking for CubeSat. Proceedings of the 2017 8th International Conference on Mechanical and Aerospace Engineering (ICMAE), Prague, Czech Republic.10.1109/ICMAE.2017.8038716 ↗
12. Zhuang, Y., Xie, Z., Wang, B., Wang, W., Li, W., and Wang, Y. (August, January 29). Design and Analysis for a Novel Docking Mechanism with T–type Locking Structure in Space. Proceedings of the 2019 IEEE 9th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), Suzhou, China.10.1109/CYBER46603.2019.9066629 ↗
13. Study on Movement Space in Capture System with Low Impact Docking Mechanism
14. Designing of Conical Surface Configuration for the Probe–cone Docking Mechanism Facing to Mini–Spacecraft10.11728/cjss2019.02.228 ↗
15. On the Dual–Rod Slider Rocker Mechanism and Its Applications to Tristate Rigid Active Docking10.1115/1.4023178 ↗
16. The mechanical characteristics and control of high temperature superconducting magnetic docking mechanism10.1063/5.0044132 ↗
17. FPGA–Based Docking Mechanism Prototype Docking Ring Control Research10.1016/j.procs.2020.02.104 ↗
18. A Study of Transmission Error Modeling and Preload Compensation for the Cable–Driven Sheaves Used in Space Docking Locks10.1017/jmech.2020.41 ↗
19. Non–Fragile Reliable Control Law with the D–Stability of a Claw–Shaped Docking Mechanism Based on Kinetic Analysis10.1166/jctn.2016.5084 ↗
20. Design and test of a semiandrogynous docking mechanism for small satellites10.1016/j.actaastro.2016.02.004 ↗
21. Design and analysis of a long–stroke and miniaturized docking mechanism
22. Analysis and design of parameters in soft docking of micro/small satellites10.1007/s11432-016-9034-7 ↗
23. Zhang, Y.W., Zhu, Y.W., and Zhu, H.K. (2020, January 27–29). Spacecraft self– and soft–docking via coupled actuation of magnetic fields. Proceedings of the 2020 39th Chinese Control Conference (CCC), Shenyang, China.10.23919/CCC50068.2020.9188938 ↗
24. Impedance Control of Space Flexible Manipulator System Assisted Docking of Space Station
25. Preimpact configuration analysis of a dual–arm space manipulator with a prismatic joint for capturing an object10.1017/S0263574713000118 ↗
26. Time–optimal manipulator control for management of angular momentum distribution during the capture of a tumbling target10.1163/016918609X12619993300584 ↗
27. Pre–Impact Configuration Designing of a Robot Manipulator for Impact Minimization10.1115/1.4035373 ↗
28. Stiffness Design for a Spatial Three Degrees of Freedom Serial Compliant Manipulator Based on Impact Configuration Decomposition10.1115/1.4007492 ↗
29. Minimum Base Attitude Disturbance Planning for a Space Robot During Target Capture10.1115/1.4040435 ↗
30. Toward Tradeoff Between Impact Force Reduction and Maximum Safe Speed: Dynamic Parameter Optimization of Variable Stiffness Robots10.1115/1.4046839 ↗
31. Pre–impact configuration optimization for a space robot capturing target satellite
32. Motion Planning for dual–arm space robot towards capturing target satellite and keeping the base inertially fixed10.1109/ACCESS.2018.2831923 ↗
33. Area–oriented coordinated trajectory planning of dual–arm space robot for capturing a tumbling target10.1016/j.cja.2019.03.018 ↗
34. Autonomous robotic capture of non–cooperative target using visual servoing and motion predictive control10.1007/s10514-014-9383-2 ↗
35. Pre–impact trajectory planning for minimizing base attitude disturbance in space manipulator systems for a capture task10.1016/j.cja.2015.06.004 ↗
36. Modeling and stabilization control for space–borne series–wound capturing mechanism with multi–stage damping10.1016/j.ymssp.2020.106973 ↗
37. Nguyen, H., Thai, C., and Sharf, I. (2010, January 2–5). Capture of spinning target with space manipulator using magneto rheological damper. Proceedings of the AIAA Guidance, Navigation, and Control Conference, Toronto, ON, Canada.
38. Dynamics modeling and control of a 6–DOF space robot with flexible panels for capturing a free–floating target10.1016/j.actaastro.2016.08.012 ↗
39. Generalized magnetorheological (MR) damper model and its application in semi–active control of vehicle suspension system10.1007/s12239-014-0044-4 ↗
40. Theoretical and experimental study on vibration control of flexible manipulator based on internal resonance10.1177/1077546317704792 ↗
41. Trajectory planning with residual vibration suppression for space manipulator based on particle swarm optimization algorithm10.1177/1687814017692694 ↗
42. Transformations of Arm–Z modular manipulator with Particle Swarm Optimi–zation10.1016/j.advengsoft.2018.05.003 ↗
43. Vibration control of beams with piezoelectric sensors and actuators using particle swarm optimization10.1016/j.eswa.2010.12.037 ↗
44. Active vibration isolation of machinery and sensitive equipment using H ∞ control criterion and particle swarm optimization method10.1007/s11012-011-9451-z ↗
45. Semi–active Vibration Control Using a Magneto Rheological (MR) Damper with Particle Swarm Optimization