Automatic Docking Connector Implementation, Suspension System Design And Research

At present, domestic launch vehicles’ umbilical connectors mainly utilize the way of manual docking. To resolve pipe-connecting problems in rocket-ground docking process, save manpower resource, reduce operating time, and adjust to the requirement of launch vehicles’ quick launch, designing and researching on launch vehicles’ automatic docking connector are significant.Aimed at ensuring connectors’functions of automatic docking and follow-up, the actuating system and suspension system is designed.3-(2PSS) parallel mechanism is adopted in actuating system, conducting kinematic and dynamics analysis on actuating mechanism results in the positive and negative solutions. Utilizing the method of analytic method and Matlab programming obtains the workspace, and resolves the Jacobi Matrix and acquires the conditions where singular points don’t exist. Meanwhile, considering the quality of bars and moving platform of actuating mechanism, the article establishes static equations via principle of virtual displacement and dynamic equations of the 3-(2PSS) mechanism via Lagrange’s equations of second kind, and take advantages of dynamic simulation’s results to design the hydraulic system. Six spring guide bar mechanism of suspension mechanism is adopted in suspension mechanism, and spring stiffness and damping coefficients is obtained by simulation calculation.The multi-body dynamic model of automatic docking connector system is built to simulate and analyze the automatic docking process and follow-up process. As for automatic docking process, influences from different rate of docking, delay time on the system docking process provide a reference for control system design. As for follow-up process, actuating mechanism has a good following-up performance is verified through the analysis, suspension mechanism can compensate the relative displacement and angle between the ground connector panel and moving platform, and has a good effect of deformation. At the same time, the force to launch vehicles is small, which proved the feasibility of the design.