Docking Strategy for a Space Station Container Docking Device Based on Adaptive Sensing

Abstract

A fractional-step docking strategy based on adaptive sensing is proposed for an orthogonally distributed container docking device that exhibits various characteristics, including modularization, miniaturization, extensibility, and peripheral layout. A dynamic model of a body combined with a space station container and robotic arm and a contact dynamic model between the combined body and the docking device are established to lay the foundation for the docking determination of the container in limit poses. Taking the structural and dynamic characteristics of the orthogonally distributed docking device into consideration, the actions of a diagonal double-docking hook were matched under limited working conditions. A 6-D force sensor placed at the end of the robotic arm was used to perceive the contact force of the container and the position of the docking hook, providing a basis for selecting a docking strategy. The tolerance of the docking device was analyzed when applying the docking strategy, the results of which demonstrated a much larger tolerance than that found in the synchronous docking. An orthogonally distributed docking device and an experimental platform were developed, and the tolerance of the device when using the adaptive sensing docking strategy was tested and verified. A comparison between the experiment and simulation proves the effectiveness and feasibility of the proposed adaptive sensing docking strategy.

Modeling, Simulation and Control of a Spacecraft: Automated Rendezvous under Positional Constraints

“…Nevertheless, to aid the stability of a spacecraft against unforeseen events [3], in the present research endeavor, we deemed it appropriate to explore a number of attitude regulation strategies. In practice, a slight misalignment might certainly be tolerated, even during docking, as it is the case in different kinds of operations [39].…”

Hardware-in-the-loop based ground test system for space berthing and docking mechanism of small spacecraft

“…For BDM of small spacecraft, semi-physical and electric methods are generally used for ground experiments. Wang et al 17 proposed a distributed docking strategy based on adaptive sensing, established a ground testbed according to the dynamic model of the two spacecraft assembly and the contact dynamics model of BDM. Romano et al 18 proposed a hardware-in-the-loop (HIL) simulation test system for the autonomous approach and docking of two spacecraft.…”

Topological optimization method of locking unit layout for space manipulator based on plant root adaptive growth theory

“…Wang 1 based on the adaptive growth law of plant adventitious roots, the principle of mechanical stability of plant root growth was applied to the layout optimization of satellite bottom locking units, and the optimized results showed that the fundamental frequency of the system was significantly higher than that of the conventional results. Wang [2][3][4][5] put forward a kind of strategy based on adaptive sensing step by step, the posture error of space manipulator are analyzed, and get the space satellite capture lock release mechanism design basis, put forward the distribution of orthogonal satellite capture locking device tolerance ability analysis method, and puts forward a determine the orthogonal analysis method of distributed satellite capture devices capture is successful. Liu 6 analyzed the relationship between locking units and positions of different types of arms, determined the best locking point positions of different arms, and optimized the locking point positions of the space manipulator.…”