Research On Spacecraft Cabin Modules Electromechanical Connection Mechanism For On-orbit Service

With the continuous exploration and research of space technology,satellites play an important role in communication,monitoring and navigation,and have become an indispensable part of human society.In the event of failure or shortage of resources,these satellites in orbit will suffer huge losses,which will be difficult to recover.So it is particularly important to develop a satellite that can be assembled,replaced,resupplied and upgraded in orbit.This paper is devoted to the design and research of a new electromechanical connection mechanism for cooperative satellite modules,which not only meets the requirements of on-orbit service task of spacecraft cabin modules connection and separation,but also provides a new reference for the research of space on-orbit service technology.Its main research contents are as follows:(1)Structure design and analysis of electromechanical connection mechanism.Firstly,according to the on-orbit space service task,the task demand of the new connecting mechanism was analyzed,and the specific function and performance design indexes of the mechanism were proposed.Secondly,on the basis of the overall design scheme of the mechanism,the modular design concept is adopted to design and analyze the capture module,alignment module,electric screw fastening module and floating electrical connection interface module in detail,and the relevant structural parameters are obtained.In addition,the agency has carried on the tolerance design and analysis,to satisfy the capture tolerance design index requirements.(2)Capture process dynamics simulation and parameter analysis.Firstly,the kinetic theory of multiple rigid bodies is studied and the kinetic equation of the capture process is established.Secondly,through the dynamic simulation analysis of the tolerance performance of the mechanism,the tolerance range of position tolerance ±50/mm and angle tolerance ±7°is obtained,which verifies the rationality of the mechanism design.In addition,in order to avoid the influence of contact force on the capture performance of the mechanism,several groups of simulation studies were conducted on the factors affecting the dynamics of the mechanism,such as position deviation,initial velocity of docking,cone angle of receiving cavity and smooth of contact surface,etc.,and the guiding conclusions were drawn,which also provided a theoretical basis for the optimal design of the mechanism.(3)Optimization and analysis of receiver cavity of electromechanical linkage.Based on the simulation results,the receiver cavity of the capture module is optimized.In this paper,a method of optimizing cone Angle parameters is put forward,which is based on single contact collision between ball head and receiver cavity.Through comparative analysis,it is found that the optimized mechanism has better capture and tolerance performance.(4)Experimental study on the docking mechanism of micro-gravity simulation module.Firstly,completed the organization prototype development and microgravity mechanism the construction of the experimental platform.Secondly,the experiment of basic function verification,the experiment of capturing tolerance and the experiment of positioning accuracy were carried out.The experimental results show:position tolerance±48mm,angle tolerance(yaw±3.4°,pitch±4.0°,roll±5.1°),the position accuracy(yaw±0.03mm,pitch±0.06mm,roll ±0.08mm),the precision of angle(yaw ±0.01°,pitch ±0.01°,roll ±0.04°).It is verified that the prototype can satisfy the capture tolerance(?)±40mm,±2°,positioning accuracy ?±1mm,±0.1° index requirements,to achieve the better performance of tolerance,higher positioning accuracy and higher reliability.