Design And Analysis Of Spacecraft Docking System In Narrow Space

In this paper,a spacecraft docking system suitable for narrow space is designed,and the system is kinematically analyzed.The forward kinematics equation,the inverse kinematics analytical solution,and the Jacobian matrix are obtained.Then,the dynamics of the docking system is carried out Modeling,the driving force and driving torque of the joint are obtained,and finally the correctness of the theoretical calculation is verified by the simulation method,and the working space of the docking system is drawn.The research content of this article is mainly focused on the following three aspects:First of all,this paper carried out the design and comparison demonstration of the docking system according to the technical requirements,and determined the dual Z-axis series configuration scheme.On this basis,combined with the design indicators and actual working conditions,the arrangement order of the kinematic chain of the mechanism and the drive and transmission schemes of each joint are determined.Next,the detailed structural design of the docking system was completed based on specific design parameters and related design theories,and the finite element analysis of key components was completed to ensure the strength of the structural design.Second,solve the kinematics problem of the docking system.In this paper,the DenavitHartenberg parameter method and the coordinate system of the docking system link are used to obtain the positive kinematics equation of the docking system.Next,the inverse transform method is used to sequentially solve the analytical expressions of the joint variables of each degree.Finally,the transformation matrix of each link is used to construct the Jacobian matrix of the docking system by using the differential transformation method.Once again,establish a docking system dynamics model.After comparing the advantages and disadvantages of commonly used dynamic modeling methods,I chose to use the Newton-Euler method to solve the dynamic equations of the docking system.The forward derivation calculation is used to obtain the inertial force and moment of inertia of the docking system,and the reverse derivation calculation is used to obtain the driving force and driving torque at each joint,which realizes the solution of the dynamic inverse problem of the docking system.Finally,the simulation verifies the theoretical calculation.Using CoppeliaSim simulation software as a virtual simulation environment to establish a virtual prototype of the docking system,the correctness of various kinematics and dynamics theoretical calculations of the docking system was verified.Subsequently,the working space of the points of the docking system with risk of interference is drawn by means of simulation.