Method And Simulation For Automatic Docking Of Solid Rocket Tail Nozzle-combustion Chamber

Assembly plays an important role in the manufacturing process of rocket,which is the key technology in the manufacturing process of rocket.Because of the traditional docking method's disadvantages in the butt joint of solid rocket motor tail nozzle-combustion chamber,such as low efficiency,low accuracy,high cost and security risks,and relying on the working experience of repeated docking.We need a safe and effective method for automatic docking.In this paper,we study the automatic docking method of the tail nozzle-combustion chamber of solid rocket motor,and focus on the method of position-attitude calculation and adjustment,integrated error modeling method and compensation method.The main contents of this paper are as follows: we proposed an automatic measurement scheme for docking information of solid rocket tail nozzle combustor chamber based on laser tracking technology,designed the six degree of freedom pose adjustment mechanism(RRRTTT),expounded the calibration method of coordinate system of position-attitude adjusting mechanism;we studied the method of position-attitude calculation for tail nozzle-combustor chamber and established position-attitude model;we studied the method of adjusting the position-attitude of tail nozzle-combustion chamber,and used the spatial and geometric analysis method to establish the position-attitude adjustment model;the motion trajectory is expressed by five times polynomial to ensure smooth running of all moving units;we analyzed the error source of the automatic docking systemsix,and establishes the comprehensive error model of space position-attitude by using the homogeneous transformation technique;we studied the compensation method of the butt joint error and established the pose adjustment compensation model;we developped "assembly measurement and simulation system" to realize the functions of real time calculation of position,pose and adjustment,real time calculation of error modeling and compensation,docking simulation of tail nozzle combustion chamber.Finally,this paper uses Matlab-SimMechanic and "assembly measurement and simulation system" to simulate the method of adjusting position-attitude and the error compensation method.