Design Research On Pose Compensation Mechanism Of Automatic Docking Connector

The launch vehicle's connector is the key interface equipment to transport power,communications,gas and fluids between launch vehicle and ground equipment.But the tracking error is inevitable during the process of the auto-docking and follow-up between the docking device and the launch vehicle.So the position and pose error between them should be eliminated by the position and pose compensation mechanism,it has important significance to protect the rocket from the tearing force's destruction.Firstly,this paper analyzed the position equations of the actuator to get its forward and inverse position solution,the maximum tracking error of the actuator in the docking process is obtained by numerical analyzing,while the single cylinder's tracking error is in the scope of design.It can provide theoretical references for the design of the working space of the position and pose compensation mechanism.Secondly,according to the requirements of the technical index,the schemes of the position and pose compensation were demonstrated.Based on the structure characteristics of the parallel mechanism,two kinds of structure were analyzed and compared,and the ideal structure was finally determined.The degree of freedom of the position and pose compensation mechanism was calculated,and it indicated that the mechanism comply with the all-round compensation requirements.The required compensation space was analyzed to obtain the minimum moving range of each slide bar in the mechanism.The spring stiffness parameters of the mechanism were optimized,and a sort of reasonable solution was obtained.Finally,the simulation of the docking process between ground carrier plate and the rocket was carried out in ADAMS,and the contact force that the rocket body suffered under different docking speed and maximum docking deviation was studied,the simulation of the follow-up process was carried out to analyze the force to the rocket.Then the solution to solving the effect caused by the change of propellant's mass in the outer pipeline to the rocket was provided.The relevant tests were done to verify the main design indicators based on the prototype.