Design of a Non-cooperative Target Capture Mechanism
|
摘要
A passive compliant non-cooperative target capture mechanism is designed to maintain the non-cooperative target on-orbit. When the relative position between capture mechanism and satellite is confirmed,a pair of four-bar linkages lock the docking ring,which is used for connecting the satellite and the rocket. The mathematical model of capture mechanism and capture space is built by the Denavit-Hartenberg(D-H)method,and the torque of each joint is analyzed by the Lagrange dynamic equation. Besides,the capture condition and the torque of every joint under different capture conditions are analyzed by simulation in MSC. Adams. The results indicate that the mechanism can capture the non-cooperative target satellite in a wide range. During the process of capture,the passive compliant mechanism at the bottom can increase capture space,thereby reducing the difficulty and enhance stability of the capture.
A passive compliant non-cooperative target capture mechanism is designed to maintain the non-cooperative target on-orbit. When the relative position between capture mechanism and satellite is confirmed,a pair of four-bar linkages lock the docking ring,which is used for connecting the satellite and the rocket. The mathematical model of capture mechanism and capture space is built by the Denavit-Hartenberg(D-H)method,and the torque of each joint is analyzed by the Lagrange dynamic equation. Besides,the capture condition and the torque of every joint under different capture conditions are analyzed by simulation in MSC. Adams. The results indicate that the mechanism can capture the non-cooperative target satellite in a wide range. During the process of capture,the passive compliant mechanism at the bottom can increase capture space,thereby reducing the difficulty and enhance stability of the capture.
A passive compliant non-cooperative target capture mechanism is designed to maintain the non-cooperative target on-orbit. When the relative position between capture mechanism and satellite is confirmed,a pair of four-bar linkages lock the docking ring,which is used for connecting the satellite and the rocket. The mathematical model of capture mechanism and capture space is built by the Denavit-Hartenberg(D-H)method,and the torque of each joint is analyzed by the Lagrange dynamic equation. Besides,the capture condition and the torque of every joint under different capture conditions are analyzed by simulation in MSC. Adams. The results indicate that the mechanism can capture the non-cooperative target satellite in a wide range. During the process of capture,the passive compliant mechanism at the bottom can increase capture space,thereby reducing the difficulty and enhance stability of the capture.
引文
[1]WEI Wenshu,JING Wuxing,GAO Changsheng.Research automatic stability technology of spacecraft assembly with captured non-cooperative targets on orbit in chinese[J].Acta aeronautica et Astronautica Sinica,2013,34(7):1520-1530.
[2]CAI Hongliang,GAO Yongming,BING Qijun,et al.The research status and key technology analysis of foreign non-cooperative target in space capture system[J].Journal of the Academy of Equipment Command&Technology,2010.,21(6):71-77.(in Chinese)
[3]MARTIN E,DUPUIS E,PIEDBOEUF J C,et al.The TECSAS mission from a Canadian Perspective[C]//Proceeding of the 8th International Symposium on Artificial Intelligence and Robotics and Automation in Space(i-SAIRAS).Munich,Germany:[s.n.],2005.
[4]IANNOTTA B.Sumo wrestles satellites into new orbits[J].Aerospace America,2006,44(2):26-30.
[5]DEBUS T J,DOUGHERTY S P.Overview and performance of the front-end robotics enabling near-term demonstration(FREND)robotic arm[C]//Proceedings of the 2009 AIAA Infotech@Aerospace Conference.Seattle:AIAA,2009:1-12.
[6]LIANG Bin,DU Xiaodong,LI Cheng,et al.Advances in space robot on-orbit servicing for non-cooperative spacecraft[J].Robot,20102,34(2):242-256.(in Chinese)
[7]CHEN Luojing,HAO Jinhua,YUAN Chunzhu,et al.Key technology analysis and enlightenment of phoenix program in Chinese[J].Spacecraft Engineering,2013,22(5):119-128.
[8]WANG Xiaoxue.Research on the docking and capture mechanism for the uncooperative target satellites[D].Harbin:Harbin Institute of Technology,2009.(in Chinese)
[9]LI Longqiu,LIU Weimin,CHEN Meng,et al.Design and analysis of non-cooperative target drag-anddrop docking mechanism in Chinese[J].Chinese Space Science and Technology,2015,35(2):41-48.
[10]LI Longqiu,SHAO Guangbin,ZHOU Dekai,et al.Design and analysis of a long-stroke and miniaturized docking mechanism[J].Manned Spaceflight,2016,22(6):758-765.
[11]ZHU Rupeng.Mechanical theory in Chinese[M].Beijing:Aviation Industry Press,1998,8:9-12.
[12]CRAIG J J.Introduction to robotics in Chinese[M].3rd Edition.Beijing:Machinery Industry Press,2006:53-56.(in Chinese)
[13]ZHANG Lixun,LU Dunmin,WANG Lan,et al.Dynamics analysis of five-bar cobot based on differential mechanism in Chinese[J].Robot,2004,26(2):123-126.
[14]ZHANG Fan,HUANG Panfeng.Inertia parameter estimation for an noncooperative target captured by a space tethered system in Chinese[J].Journal of Astronautics,2015,36(6):630-639.
[15]LIU Chuanshi.Study on the docking mechanism for uncooperative space target in Chinese[D].Harbin:Harbin Institute of Technology,2010.
[2]CAI Hongliang,GAO Yongming,BING Qijun,et al.The research status and key technology analysis of foreign non-cooperative target in space capture system[J].Journal of the Academy of Equipment Command&Technology,2010.,21(6):71-77.(in Chinese)
[3]MARTIN E,DUPUIS E,PIEDBOEUF J C,et al.The TECSAS mission from a Canadian Perspective[C]//Proceeding of the 8th International Symposium on Artificial Intelligence and Robotics and Automation in Space(i-SAIRAS).Munich,Germany:[s.n.],2005.
[4]IANNOTTA B.Sumo wrestles satellites into new orbits[J].Aerospace America,2006,44(2):26-30.
[5]DEBUS T J,DOUGHERTY S P.Overview and performance of the front-end robotics enabling near-term demonstration(FREND)robotic arm[C]//Proceedings of the 2009 AIAA Infotech@Aerospace Conference.Seattle:AIAA,2009:1-12.
[6]LIANG Bin,DU Xiaodong,LI Cheng,et al.Advances in space robot on-orbit servicing for non-cooperative spacecraft[J].Robot,20102,34(2):242-256.(in Chinese)
[7]CHEN Luojing,HAO Jinhua,YUAN Chunzhu,et al.Key technology analysis and enlightenment of phoenix program in Chinese[J].Spacecraft Engineering,2013,22(5):119-128.
[8]WANG Xiaoxue.Research on the docking and capture mechanism for the uncooperative target satellites[D].Harbin:Harbin Institute of Technology,2009.(in Chinese)
[9]LI Longqiu,LIU Weimin,CHEN Meng,et al.Design and analysis of non-cooperative target drag-anddrop docking mechanism in Chinese[J].Chinese Space Science and Technology,2015,35(2):41-48.
[10]LI Longqiu,SHAO Guangbin,ZHOU Dekai,et al.Design and analysis of a long-stroke and miniaturized docking mechanism[J].Manned Spaceflight,2016,22(6):758-765.
[11]ZHU Rupeng.Mechanical theory in Chinese[M].Beijing:Aviation Industry Press,1998,8:9-12.
[12]CRAIG J J.Introduction to robotics in Chinese[M].3rd Edition.Beijing:Machinery Industry Press,2006:53-56.(in Chinese)
[13]ZHANG Lixun,LU Dunmin,WANG Lan,et al.Dynamics analysis of five-bar cobot based on differential mechanism in Chinese[J].Robot,2004,26(2):123-126.
[14]ZHANG Fan,HUANG Panfeng.Inertia parameter estimation for an noncooperative target captured by a space tethered system in Chinese[J].Journal of Astronautics,2015,36(6):630-639.
[15]LIU Chuanshi.Study on the docking mechanism for uncooperative space target in Chinese[D].Harbin:Harbin Institute of Technology,2010.