Research On Design And Simulation Of Flexible Rod Docking Mechanism

The traditional taper rod-type docking mechanism usually uses a rigid docking rod,which realizes the docking function by means of hard contact and hard posture adjustment.The structural design is complicated and an additional buffer device is required.In order to meet different working scenarios and application objects,this paper proposes a flexible rod-type docking mechanism,which satisfies weak impact,large tolerance,and repeatable docking,from structural design to kinematic analysis,from dynamics The theoretical derivation to the simulation analysis was studied.First,a design scheme of flexible rod-type docking mechanism is proposed.The application object of the docking mechanism in this paper is small and medium-sized spacecraft.Based on the conical rod-type docking principle,a flexible rod is used instead of a rigid rod,and the passive design of the passive end is realized through the design of "rod sleeve rod",combined with the performance index of docking,Completed the principle analysis and structural design of the docking mechanism.Then,the kinematics analysis of the flexible rod-type docking mechanism is carried out.Establish a local coordinate system,derive the coordinate relationship between the active end and the passive end through the transformation matrix,and analyze the tolerance of the flexible rod-type docking mechanism,complete the size analysis of the key components,and determine the position of the contact point during the docking process.The kinetic equation of the docking process is established.The dynamic analysis of the collision process of the taper-rod docking mechanism is mainly carried out.The Lagrange dynamic equations of the rigid rod and flexible rod docking collisions are established respectively.The LN model in Hertz collision theory is used to describe the collision force,and the modal superposition method is combined.Describe the deformation of the flexible rod,and preliminary verification of the accuracy of the model assumptions.Using the dynamic simulation software ADAMS to simulate the collision docking process at different initial positions and attitudes,it is verified that the designed structure meets the expected performance indicators,the key performance indicators during the docking process,collision force and collision speed,are analyzed and compared with the theory The analysis is conducted for comparison,and then the effects of initial velocity,initial posture,initial position,and flexible rod stiffness on the collision force are studied.