Research On Non-cooperative Space Satellite Capture Device And Capture Strategy Based On Delta Robot

In recent years,space science and technology have continued to progress in exploration.Accompanying it has been the increasing number of satellites launched by various countries,and valuable space orbital resources have been occupied.Therefore,research on space non-cooperative satellite capture devices has great scientific research value and application significance.Based on the failed satellite nozzle,this paper designs a space non-cooperative satellite capture device based on a Delta robot,and proposes a complete set of non-cooperative target satellite capture strategies.First of all,based on the actual space engineering application and the analysis of design requirements,the structural design of non-cooperative target satellite capture device is determined.The structure of the non-cooperative satellite capture device is designed in detail.In the kinematics analysis,the relationship between the forward and inverse kinematics of the Delta robot,the members of the executive robot arm,and the angle is simply analyzed,and the space envelope range of the capture robot arm and the working space range of the Delta robot are obtained.The dynamic analysis obtained the Jacobian matrix of the Delta robot and the dynamic equation of the capture manipulator.The static analysis of the structure using finite elements ensures that the strength of the main components meets the requirements for use.Secondly,this paper proposes the ellipse circle normalization method(ECN)to solve the positioning problem of the trapping system in the nozzle.Based on this method,a seven-beam three-layer radiation-type ranging sensor arrangement scheme is designed to realize the capture mechanism in detail.Accurate positioning in the nozzle.Furthermore,the proposed ECN method is used to analyze the positioning of the capture mechanism in the cylinder and the cone in turn,and then the method is applied to the positioning of the capture mechanism in the nozzle.Finally,the positioning error analysis,calculation theory and algorithm give the actual pose difference to verify the feasibility of the ECN method.Then,the Delta robot that controls the attitude of the entire non-cooperative satellite capture device is planned for the “space gate shape”,and the motion planning is performed using the modified trapezoidal curve method.The displacement and speed of the moving platform after analysis and before the analysis are compared and compared.,Acceleration and other important parameters and time curve.This paper introduces the fuzzy PID control system and focuses on the adaptive fuzzy PID controller.And the joint simulation platform based on Adams and Simulink is used to analyze the error tracking and dynamic response characteristics under fuzzy PID control.Finally,the capture strategy is designed based on the previous article.The trajectory analysis and acquisition strategy analysis of the overall acquisition process are performed to obtain a complete space non-cooperative satellite acquisition strategy.Select the initial pose of the target satellite nozzle arbitrarily within the given range,and simulate the target satellite capture process by Adams and Matlab software,verifying the positioning of the capture mechanism,trajectory planning and fuzzy PID control,and the end-executing Feasibility of arrest.