| Spacecraft usually composed by a number of cabins,cabin docking is one of the main work in the spacecraft assembly process,cabin automatic docking can improve the efficiency and uniformity quality of spacecraft assembly significantly.In this paper, the key technology of the pose computing and trajectory planning and pose adjustment in the cabin automatic docking were systematically studied,reasonable solutions were given.Combining with the structural characteristics of the spacecraft cabin cylinder,vector posture solving method was proposed, reasonable feature points were arranged on the cylindrical surface of the cabin,the position vector of the origin of the coordinate system connecting cabin in the assembly space was solved using the damped least square method and the rotation matrix of the coordinate system connecting cabin was solved combined with space cylindrical surface equation.Then the cabin’s six pose parameters can be obtained.The comparative results of simulation results and actual posture show that vector posture solving method is effective and accurate.According to the actual posture of the cabin,the trajectory of the cabin automatic posture alignment and docking were planned by five polynomial trajectory and the cabin attitude adjustment time was determined. A two-points posture adjustment method was proposed,the posture of the docking cabin was changed in accordance with the ideal trajectory by changing the position of the two points on the docking cabin.The mobile clasps posture alignment mechanism was designed.The mobile clasps and cabin constitute serial-parallel mechanism, The mobile clasps make cabin Automatic Pose adjustment and dock by two-points posture adjustment method.Research on the motion pattern of the cabin.The results of ADAMS kinematics simulation analysis shows that the structure of mobile clasps posture alignment mechanism is reasonable and it enables the cabin to reach the target position and posture by two-points posture adjustment method. |
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