| The capture and docking technology of spatial non-cooperative targets means after space rendezvous,spacecraft docks with target and finally become one spacecraft.It is the critical technology of on-orbit maintenance of spacecrafts and space debris clearance with high economic and military value.Many international aerospace powers have already started the research about it and made great progress,however,our researches are just beginning,so the analysis about this field is very important for the development of our national aerospace industry.A claw-type capture mechanism of spatial noncooperative targets has been designed based on projects which aims at satellite docking rings,then it has been analysed in these ways:Firstly,A claw-type capture mechanism for spatial non-cooperative targets has been built according to the design requirements,then its locomotion mechanism and functions of major components have been analysed.Secondly,Its kinetics and dynamics are anlysed in theory using the DH parameter method and Lagrange multiplier method,so we can get the movement tracks of the capture mechanism fingertips and four-bar-linkage claws.Thirdly,we use MATLAB software to do numerical simulation so that we can get the workspace of fingertips and the trends of angular and angular velocity of the four-bar-linkage claws.After that,we make simulation analysis about the capture process using multi-body dynamics simulation software MSC.ADAMS,.Fourthly,we use finite element simulation software MSC.PATRAN/NASTRAN to do model analysis of capture mechanism under free state and restricted state in order to get the natural frequencies and modes of vibration of six lowest order modes.Finally,we test the prototype of the capture mechanism in order to test whether its critical paraemeters meet the requirements.The results indicate that: the trends of joint angle and angular velocity corresponding with the results of theoretic analysis verifies the validity of theoretic analysis;the maxium pounding force of fingertips is 155 N,which meets the design requirements.The natural frequencies and modes of vibration of six lowest order modes meet expectations,so we can offer data to avoid resonance during rocket launch process;The critical paraemeters of the prototype meet the requirements by the test. |
