The Capture Stratery Of Non-Cooperative Target’s Ducking Ring By Manipulator And Simulation

With the development of space technology,people are exploring space more and more.But at the same time,due to satellite failure and damage,more and more large space debris and more restrictions on space exploration.Under this premise,people pay more and more attention to the cleaning of space garbage.The use of space robots to capture non-cooperative targets in space and carry out space orbit garbage cleaning,satellite service and maintenance is an important task in the field of space robotics research.In this paper,the capture strategy of space non-cooperative targets is studied.Firstly,this paper analyses the motion characteristics of non-cooperative target in space,establishes the kinematics model of non-cooperative target satellite,which provides the basis for the follow-up research.For the catching satellite manipulator,the forward and inverse kinematics analysis is carried out,and the flexible workspace analysis of the manipulator is completed according to the concept of service ball,and the performance of the manipulator is further analyzed.Aiming at the rotation and nutation of non-cooperative target satellites,a capture strategy is developed,which is divided into four stages: approaching,spinning,manipulator deployment and visual servo.The capture strategy has good capture performance.It can capture non-cooperative target satellites in the face of two special position relationships,the vertical and parallel of spin axis and docking ring.The joint simulation model of ADAMS/MATLAB is established according to the capture strategy.According to the simulation model,the capture performance of the capture strategy is proposed according to the relationship between the two locations.In order to ensure the safety and stability of the capture,the errors in the process of capture were analyzed.In the process of capture,disturbances mainly come from joint flexibility(harmonic reducer and moment sensor),visual information transmission delay,response ability of manipulator and calibration error.Aiming at the errors in the process of catching,the effects of stiffness and damping of flexible joints on the angular jitter are analyzed when the visual information transmission delay and the corresponding forehead capacity of the manipulator are difficult to change.Together with other perturbations,the effects of the stiffness and damping of the flexible joints on the angular jitter are studied,and the tolerance of the end-effector of the manipulator is compared.On the basis of slightly catching performance,the rigidity and damping requirements of the flexible joint of the manipulator are required.Finally,the capture performance of the capture strategy is validated by simulation,and the performance of the capture strategy is analyzed according to the position relationship between the spindle and the docking ring of the non-cooperative target satellite.A ground experimental platform is built to study the capture strategy,and the fourth of the capture strategy is validated on the premise of meeting the requirements of the first three stages of the capture strategy.At the same time,the reliability of the capture strategy and the reliability of error analysis are proved.