Research Of The Docking Mechanism For In-orbit Rockets Assembly

The technology on assembling of in-orbit rockets is the inevitable need for futuredevelopment of aerospace engineering. The prototype of demonstrative experiment inassembling of in-orbit rockets uses the docking structure to achieve the dockingsegment in the demonstrative experiment. This dissertation focuses on the research ofthis kind of docking structure used in the demonstrative experiment. Based on thisobjective, we used the docking theory of aerospace structure and carried out experiencein the ground simulation system to design the prototype and achieve it in thedemonstrative experiment. The thesis can accelerate the perfection and development ofin-orbit rockets assembling technology.Firstly, we analyze the working requirement of this prototype and consider thestructure features of different kinds of docking system around the world. Then, wedecide to adopt the APDS docking scheme to design the prototype. On account of itsdocking characteristic in finishing the assembling and the demand of low impactdocking, we decide to use the6-DOF parallel structure as the design prototype fordocking system.Secondly, we use the Jacobian Matrix to analyze the inverse kinematics of theprototype. Then we use the conclusion to calculate the range of motion for achieving theexperiment’s demand, namely the size of every sub-structure and the measurement ofthe working space. Also, we use neural network and Newton iteration method tocalculate the docking system’s forward kinematics model. Using this model we canmake sure the motion range of every sub-structure to satisfy the need of every workingcondition.Thirdly, based on the traditional design method of parallel structure, we establishthe fundamental parameter according to the primary aims of the demonstrativeexperiment. We use the dimension synthesis of mechanism to build the relationshipbetween the fundamental parameter and the motion parameter of the sub-structures. Weoptimize the fundamental parameter through adjusting the geometrical parameter ofevery sub-structure in the parallel structure.At last, we record the results of the experiment and verify reasonability of theparallel prototype through observing every docking experiment under different workingcondition during the assembling experiment.