Research Of Six-DOF Space Docking Platform Based On Virtual Prototype Technology

There are a large number of large-aperture-optical modules in the high power solid-state lasers for Inertial Confinement Fusion (ICF) drivers, which need to be installed to the main body of the system from the bottom upward. With large quantities and varieties,the optical modules' size, structure and weight are quite different. During the optical module assembly and calibration process, the modules' position and attitude adjustment with certain accuracy should be carried out. To meet the needs of the optical module assembly and calibration, a hybrid six DOF docking platform (hereinafter referred to as space docking platform) program was used to solve this engineering problem.This space docking platform is an electromechanical coupling system with complicated structure, high cost and long manufacturing cycle. So, before the physical prototype manufacturing of the space docking platform, its functional properties and mechanical structure rationality are needed to be verified. Therefore, it has practical significance to study the issue combined with related technologies of the virtual prototype. Besides, the application of virtual prototyping in the design process can reduce design errors, improve design efficiency, reduce design costs and shorten the design cycle.The study object is the six degrees of freedom space docking platform, which is based on the relevant technology of virtual prototype. The platform function is analyzed first, then, kinetic theory is used to study mechanical body.3D CAD software Pro/Engineer (referred to as Pro/E), finite element analysis software ANSYS and ANSYS Workbench, multi-body dynamic analysis software ADAMS have been used for solid modeling, finite element analysis, dynamic simulation and so on. Because of integrated use of virtual prototyping technology, analysis results provide theoretical basis for the further optimization design. It has guiding significance for the physical prototype of the platform. The specific content of this paper is as follows:Firstly, based on optical modules assembly and calibration processes, space docking platform design requirements and technical indicators is analyzed, The platform can move along the X, Y, Z axis and rotate around the X, Y, Z axis. From that point, the composition and working principle of horizontality adjustment mechanism and plane adjustment mechanism have been studied and their inverse kinematics are calculated by the robot position and posture description and coordinate transformationSecondly, Pro/Engineer is used to establish 3D model of space docking platform. For stability requirements, with actual load and constraints, finite element mode of space docking platform is analyzed by ANSYS Workbench., The equivalent maximum stress, maximum strain value, the first 10 step mode and the corresponding vibration have been got from static analysis and modal analysis. The data is valuable for optimal design.Finally, based on dynamic theory for multi-flexible-system based on theory and flexible body modeling method of ADAMS, ANSYS finite element analysis software is used to generate the modal neutral file which is imported into the virtual prototype model, finally dynamics simulation of plane adjustment mechanism including flexible part is achieved.