Research Of Non-cooperative Identification And Multifunctional Docking Mechanism

As the important research direction in the space docking technology, thedocking technology for uncooperative target mainly studies the docking betweenbody satellite and target satellite which is in an unknown status. Compared withcooperative docking, the non-cooperative docking has wider range, greaterautonomy and better prospects due to non-cooperation of target, which alsoincreases the difficulty of related research. At present the technology of non-cooperative docking mechanism is still in its infancy, only a few countries hadundertaken experiments. In the non-cooperative docking process, efficientidentification is a prerequisite for docking and reliable docking mechanism is animportant guarantee for the docking process. Most technology of spatial recognitionare based on vision system at home and abroad. The docking interface is single. Itis short of the study of multifunctional docking mechanism for two or more dockinginterface, most of them remain in the theoretical design phase. Therefore, this paperstudied the images collected by vision system and designed multifunctional dockingmechanism for two docking interfaces. This paper also validated the correctnessand rationality of the mechanism design through the theory analysis and dynamicssimulation, plus the experimental study.First, the paper denoised image by median filtering collected by vision system,used canny operator to extract contour, used mathematical morphology to repaircontour, and finally recorded information of contour by Freeman chain codemethod.Then the paper proposed a multifunctional docking mechanism based on thecomprehensive analysis of the docking interface and initial conditions. Andconducted a docking mechanism for the overall design and detailed design, on thisbasis, the paper took the calculation of key agencies.Then, this paper solved the kinematics equations of the docking mechanism,got the trajectory of extremity and the workspace, the workspace could envelope allkinds of target.Also the buffering mechanical model of the docking mechanism wasbuilt, getting the theoretical response of the system Y. They laid a theoreticalfoundation for the subsequent research. The paper used ADAMS software toestablish a virtual prototype of the docking mechanism to verify the dynamicscharacteristics. Using Lagrange multiplier method to establish the dynamic modelof the actuator to obtain the relationship between the various parts of actuatorparameters and importation, laid the theoretical foundation for future study. On thebasis of theoretical research, used ADAMS software to establish a simplified model of multi-functional docking mechanism to study the variation of kinematicparameters and contact force for the extremity of the actuator.