Kinematics Analysis And Simulation Of Small Satellite Docking Mechanism End Executor

On-orbit servicing technology has become a new key technology of modern aerospace industry. On-orbit service includs satellite capture recovery, on-orbit assembly repairment, equipment care, and even destroying the science experiment satellite, it will greatly shorten the satellite launch cost and prolong the service life of the satellite, and also can increase the feasibility of satellite to multiple function development. But in order to realize the on-orbit service, first of all, it is important to realize the on-orbit capture. On-orbit capture technology refers to the space by people, robots or both cooperate to complete the implementation of the arrest of space target technology. As on-orbit service is one of the important basic equipment, the key link of on-orbit capture is to achieve the target satellite. This paper mainly studies the small satellite structural design about satellite docking mechanism, the analysis of capture link posture equation of motion, and the establishment of3D model simulation and experimental verification.First of all, the structure design of the end grip mechanism for small satellite docking mechanism is finished. After comparing the end actuator mechanism from country to country, and combined with the requirements of this project, terminal design is realized according to the Japanese ETS-VII grasping mechanism. Finally add to its driving system and small control system, forming a terminal execution catch small system, design and research system of on-orbit capture is convenient for the later study.Then, the pose modeling is completed for the docking capture link. The theory part of the posture parameters is established by stellar attitude motion equation model, and then through the stellar transformation of coordinates to establish complex star position equation model, and then establish the grasping process dynamics model. The main purpose is to ensure the position of two grasping body, the target satellite can be capture in the range of the tracking satellite. All these make a theoretical foundation for the study of the later controlling system.Finally, the simulation and physical experiment of the grab actuator have been done, and this primary simulation mainly verifies the design mechanism ability in different working conditions. After the physical prototype simulation has been maken successfully, and verification experiment has been done on the ground docking, and the test is done to verify the catch connecting mechanism rationality which can meet the requirement of this project.