Research on Key Problems of Automatic Docking Technology for Spacecraft
LIU Yuan;FEI Yunfeng;SONG Yinhao;TU Qunzhang;The No.96657th Troop of PLA;PLA University of Science and Technology;
The traditional spacecraft assembly adopts rigid tooling positioning, hand-made hole connection. Through the human eye on the dock surface visual feedback,it has high labor intensity,low efficiency,longer assembly cycle. Digital automatic docking technology is a kind of advanced assembly technology which can adapt to the rapid development and production of products,which can effectively reduce the component docking error and improve the precision and efficiency of docking assembly. Based on the theory of automatic docking system,the key technologies such as posture detection, motion executing agency and computer control technology are analyzed,and the following conclusions are given:high-precision pose detection system is the basis of automatic pairing. Non-contact pose measurement is more suitable for real-time positioning measurement of spacecraft cabin,and computer vision cost is low,with strong adaptability; The computer control system is the hub of the joint pose detection system and the motion actuator,which is based on the pose detection system. The computer control system is a joint of the pose detection system and the motion actuator. Data on the movement of the actuator posture and position adjustment,and to achieve high-precision spacecraft docking.
【CateGory Index】： V465