Research On The Experiments Of HIL Simulation For Low Impact Docking Mechanism

Space docking technology is a key technology for China to continuously complete space exploration.Space docking enables two spacecraft in space to complete the structural combination,and provides a working environment for the transmission of resources between the spacecraft.The space docking mechanism is a mechanical device installed on the spacecraft,which is used to complete the space docking task of two spacecraft.The huge contact force generated on the docking mechanism during space docking has always been a problem perplexing the industry.In this paper,the docking mechanism is designed according to the international standard of space weak impact docking,and its kinematics and dynamics characteristics are analyzed and calculated.At the same time,in order to ensure the correctness of the design and simulation,the semi-physical simulation platform on the ground was built and the experimental verification was carried out to ensure that the docking mechanism could complete the docking task.Of docking mechanism is inverse kinematics calculation,determine the docking mechanism of each actuator elongation and the posture of the relationship between the key design parameters,the organization structure optimization work safety factors into consideration,the singularity of the docking mechanism assessment and intervention evaluation,ensure its working process is not affected by the influence of design parameters.In the 3D design software,the design and modeling of each part of the docking mechanism were carried out and the assembly of the assembly was completed.In the process of docking,the contact positions of the contact elements are varied,and the theoretical calculation models for the positions of different collision points that may appear in the operation of the docking mechanism are given,the positions of the contact points are divided,and the motion equations of the spacecraft when working in space are calculated.Lagrange equation was used to establish the dynamic model.The finite element simulation analysis of the working process of the docking mechanism is carried out.The strain of the contact element when the butt mechanism is contacted in different contact modes is analyzed and calculated.In order to ensure that the docking mechanism is not affected by its own design factors,the modal analysis and resonance response analysis are carried out to avoid the vibration factors affecting the service life of the mechanism in the process of movement.In order to verify the correctness of theoretical analysis and design,the ground semiphysical simulation test platform of the docking mechanism was built.By changing the pose of the docking ring and adjusting the elongation of the six actuators in the software control interface of the experimental platform,the initial pose deviation of the docking mechanism was verified to be able to complete the docking task,and the rationality and feasibility of its motion were verified.