CN-121734707-B - Six-degree-of-freedom flexible docking and pose measuring platform and use method thereof

CN121734707BCN 121734707 BCN121734707 BCN 121734707BCN-121734707-B

Abstract

The invention relates to the field of spacecraft ground simulation experiments, in particular to a six-degree-of-freedom flexible docking and pose measuring platform and a using method thereof, wherein the platform comprises a platform foundation base, 3 flexible mechanisms are uniformly distributed above the platform foundation base, a supporting frame is arranged above each flexible mechanism, and a docking mechanism mounting interface is fixedly connected above the supporting frame; the invention can effectively reduce the problems of position overshoot, force overrun and the like caused by slow response speed of an actuating mechanism through a flexible mechanism, simultaneously can realize real-time 6-degree-of-freedom gesture measurement, and connect the gesture change of the flexible mechanism into a semi-physical measurement platform for calculation in real time, thereby eliminating the motion distortion caused by the flexible mechanism.

Inventors

XU ZHIGANG
ZHANG XIAO
HE YUN
BAI XINLIN
WU JUNWU

Assignees

中国科学院沈阳自动化研究所
上海宇航系统工程研究所

Dates

Publication Date: 20260505
Application Date: 20260226

Claims (9)

1. A six-degree-of-freedom flexible docking and pose measuring platform is characterized by comprising a platform foundation base, flexible mechanisms, supporting frames and docking mechanism installation interfaces, wherein 3 flexible mechanisms are uniformly distributed above the platform foundation base, the supporting frames are arranged above each flexible mechanism, the docking mechanism installation interfaces are fixedly connected above the supporting frames, cubes I, cubes II and cubes III are uniformly distributed on the lower surfaces of the docking mechanism installation interfaces, the bottom surfaces of the cubes I, II and III are all used as measuring reference surfaces and are coplanar, and the bottom surfaces of the cubes I, II and III are respectively measuring reference surfaces Measuring reference plane Measuring reference plane One side face of the cube I and one side face of the cube II are used as measurement reference surfaces and are coplanar, and the side faces of the cube I and the cube II serving as the measurement reference surfaces are respectively measurement reference surfaces Measuring reference plane One side of the cube III is used as a measuring reference plane III and is matched with the measuring reference plane Measuring reference plane Perpendicular to each other, measuring reference plane Measuring reference plane Measuring reference plane Measuring reference plane Measuring reference plane And the opposite sides of the measurement reference plane III are respectively provided with a laser ranging unit I, a laser ranging unit II, a laser ranging unit III, a laser ranging unit IV, a laser ranging unit V and a laser ranging unit VI which are fixed on the base of the platform.
2. The six-degree-of-freedom flexible docking and pose measurement platform according to claim 1, wherein the flexible mechanism comprises a rigid lower mounting plate, a flexible rubber plate, a rigid upper mounting plate, a rigid lower mounting frame and a rigid upper cover, wherein the rigid lower mounting plate and the rigid upper mounting plate are respectively and symmetrically fixed on the upper surface and the lower surface of the middle part of the flexible rubber plate and used for compacting the middle part of the flexible rubber plate, the rigid lower mounting plate is fixed on a platform foundation base through a connecting plate, the rigid upper cover and the rigid lower mounting frame are respectively and symmetrically fixed on the upper surface and the lower surface of the edge of the flexible rubber plate, a gap is reserved between the middle part of the rigid upper cover and the flexible rubber plate, a section of flexible rubber connection is formed between the rigid upper cover and the rigid lower mounting plate, and the top surface of the rigid upper cover is fixedly connected with the support frame.
3. The application method of the six-degree-of-freedom flexible docking and pose measurement platform is characterized by comprising the following steps of: the active docking mechanism or the passive docking mechanism is connected with the docking mechanism installation interface; when the active docking mechanism is docked with the passive docking mechanism, the pose change of the mounting interface of the docking mechanism is measured; the measuring reference plane is measured by a laser measuring unit I, a laser measuring unit II, a laser measuring unit III, a laser measuring unit IV, a laser measuring unit V and a laser measuring unit VI Measuring reference plane Measuring reference plane Measuring reference plane Measuring reference plane Measuring distance information of a reference plane III; and transmitting the distance information to a resolving unit of the semi-physical test platform, so as to determine the six-degree-of-freedom pose of the installation interface of the docking mechanism, and adjusting the action of the executing mechanism of the test bed according to the six-degree-of-freedom pose of the installation interface of the docking mechanism.
4. The method for using the six-degree-of-freedom flexible docking and pose measurement platform according to claim 3, wherein the method for determining the six-degree-of-freedom pose of the docking mechanism installation interface comprises the following steps: step 1, establishing a global Cartesian coordinate system, wherein the positive direction of an x-axis is vertically upwards, the y-axis is the horizontal direction, and the positive direction of the y-axis and a measurement reference plane Measuring reference plane The normal vector directions forming the plane are opposite, and the z-axis direction is determined according to the right-hand rule; Step 2, determining a change matrix of the installation interface of the docking mechanism moving along the x axis and rotating around the y axis and the z axis; step 3, determining a change matrix of the installation interface of the docking mechanism moving along the y-axis and the z-axis and rotating around the x-axis; And 4, determining the six-degree-of-freedom pose of the docking mechanism installation interface relative to the initial pose according to the change matrix of the docking mechanism installation interface determined in the step 2 moving along the x axis and rotating around the y axis and the z axis and the change matrix of the docking mechanism installation interface determined in the step 3 moving along the y axis and the z axis and rotating around the x axis.
5. The method of using a six degree of freedom flexible docking and pose measurement platform according to claim 4, wherein the method of determining a change matrix of the docking mechanism mounting interface moving along the x-axis, rotating about the y-axis, and z-axis, comprises the steps of: s1, defining and solving points on a straight line Length function of line segment from straight line direction to plane intersection point The following formula is shown: ; In the formula, Is a point on a plane; is a normalized planar normal vector; Is a point on a straight line; Is a straight line direction vector, and in the process of function calculation, a space point N, Is considered to be directed from the origin to N, Vector of (3) 、 Participation in the calculation; S2, determining the measurement datum plane of the cube I, the cube II and the cube III after the installation interface of the docking mechanism moves along the x axis and rotates around the y axis and the z axis Measuring reference plane Measuring reference plane Normal vector of the formed plane; ; In the formula, After the interface is installed for the docking mechanism to move along the x-axis, rotate around the y-axis and the z-axis, the measurement datum planes of the cubes I, II and III are measured Measuring reference plane Measuring reference plane Normal vector of the formed plane; after the interface is installed on the docking mechanism to move along the x-axis, rotate around the y-axis and the z-axis, the reference surface is measured The upper laser ranging unit I irradiates the coordinates of the point, D 1 is that after the docking mechanism mounting interface moves along the x-axis and rotates around the y-axis and the z-axis, the laser starting point of the laser ranging unit I reaches the measurement reference plane along the laser irradiation direction Is used for the distance of (a), The X-axis coordinate of the laser starting point of the laser ranging unit I, The y-axis coordinate of the laser starting point of the laser ranging unit I, The z-axis coordinate of the laser starting point of the laser ranging unit I; after the interface is installed on the docking mechanism to move along the x-axis, rotate around the y-axis and the z-axis, the reference surface is measured The laser ranging unit II irradiates the coordinates of the point, D 2 is that after the installation interface of the connection mechanism moves along the x axis and rotates around the y axis and the z axis, the laser starting point of the laser ranging unit II reaches the measurement reference plane along the laser irradiation direction Is used for the distance of (a), Is the X-axis coordinate of the laser starting point of the laser ranging unit II, The y-axis coordinate of the laser starting point of the laser ranging unit II; the z-axis coordinate of the laser starting point of the laser ranging unit II; after the interface is installed on the docking mechanism to move along the x-axis, rotate around the y-axis and the z-axis, the reference surface is measured The upper laser ranging unit III irradiates the coordinates of the point, D 3 is that after the docking mechanism mounting interface moves along the x-axis and rotates around the y-axis and the z-axis, the laser starting point of the laser ranging unit III reaches the measurement reference plane along the laser irradiation direction Is a distance of (2); an X-axis coordinate of a laser starting point of the laser ranging unit III; The y-axis coordinate of the laser starting point of the laser ranging unit III; the z-axis coordinate of the laser starting point of the laser ranging unit III; S3, determining the displacement of the mounting interface of the docking mechanism along the x axis; ; In the formula, For the displacement of the mounting interface of the docking mechanism along the x-axis, I 0 is the reference plane measured in the initial pose state of the mounting interface of the docking mechanism Measuring reference plane Measuring reference plane The coordinates of the points on the plane are formed, ; Measuring a reference surface when an interface is installed for a docking mechanism in an initial pose state Measuring reference plane Measuring reference plane The normal vector of the plane formed is that of, ; And S4, determining the direction vector and the equivalent rotation angle of an equivalent rotation shaft of the docking mechanism installation interface rotating around the y axis and the Z axis so as to determine a change matrix of the docking mechanism installation interface moving along the x axis and rotating around the y axis and the Z axis or determining the rotation angle of the docking mechanism installation interface rotating around the y axis and the Z axis so as to determine a change matrix of the docking mechanism installation interface moving along the x axis and rotating around the y axis and the Z axis.
6. The method of claim 5, wherein determining the direction vector and the equivalent rotation angle of the equivalent rotation axis of the docking mechanism mounting interface about the y-axis and the z-axis, and thereby determining the change matrix of the docking mechanism mounting interface moving along the x-axis and rotating about the y-axis and the z-axis, comprises the steps of: a1, determining a direction vector of an equivalent rotation shaft of the docking mechanism installation interface rotating around a y axis and a z axis; ; In the formula, Installing a direction vector of an equivalent rotation shaft of the interface rotating around a y axis and a z axis for the docking mechanism; A2, determining an equivalent rotation angle based on a direction vector of an equivalent rotation shaft of the docking mechanism mounting interface rotating around the y axis and the z axis; ; In the formula, Mounting an equivalent rotation angle of the interface around a y axis and a z axis for the docking mechanism; A3, determining a change matrix of the docking mechanism installation interface moving along the x axis and rotating around the y axis and the z axis according to the displacement of the docking mechanism installation interface along the x axis, which is obtained in the step S3, and the equivalent rotation angle of the docking mechanism installation interface rotating around the y axis and the z axis, which is obtained in the step A2; ; In the formula, The interface is arranged for the docking mechanism to move along the x-axis and rotate around the y-axis and the z-axis, An x-axis component of a direction vector of an equivalent rotation axis of the interface rotating around a y-axis and a z-axis is installed for the docking mechanism; A y-axis component of a direction vector of an equivalent rotation axis of the interface rotating around the y-axis and the z-axis is installed for the docking mechanism; The interface is mounted for the docking mechanism with the z-axis component of the direction vector of the equivalent rotational axis of rotation about the y-axis, z-axis.
7. The method of using a six degree of freedom flexible docking and pose measurement platform according to claim 5, wherein the method of determining the rotation angle of the docking mechanism mounting interface about the y-axis and the Z-axis to determine the change matrix of the docking mechanism mounting interface moving along the x-axis and about the y-axis and the Z-axis comprises the steps of: b1, determining a rotation matrix of the docking mechanism mounting interface rotating around a y axis and a z axis; ; In the formula, A rotation matrix for rotating the interface around the y axis and the Z axis is arranged for the docking mechanism; A rotation angle for the interface to rotate around the y axis is arranged for the docking mechanism; a rotation angle for the interface to rotate around the z-axis is arranged for the docking mechanism; B2, measuring the reference surface after determining that the installation interface of the docking mechanism rotates around the y axis and the Z axis Measuring reference plane Measuring reference plane Normal vector of the formed plane; ; In the formula, After the interface is installed for the docking mechanism to rotate around the y axis and the Z axis, a reference surface is measured Measuring reference plane Measuring reference plane Normal vector of the formed plane; B3, determining a rotation angle of the docking mechanism mounting interface rotating around the y axis and the Z axis; ; In the formula, After the interface is installed for the docking mechanism to rotate around the y axis and the Z axis, a reference surface is measured Measuring reference plane Measuring reference plane A z-axis component of a normal vector to the formed plane; after the interface is installed for the docking mechanism to rotate around the y axis and the Z axis, a reference surface is measured Measuring reference plane Measuring reference plane The x-axis component of the normal vector of the plane formed, After the interface is installed for the docking mechanism to rotate around the y axis and the Z axis, a reference surface is measured Measuring reference plane Measuring reference plane The y-axis component of the normal vector of the formed plane; B4, determining a change matrix of the docking mechanism installation interface moving along the x axis and rotating around the y axis and the Z axis according to the displacement of the docking mechanism installation interface along the x axis, which is obtained in the step S3, and the rotation angle of the installation interface rotating around the y axis and the Z axis, which is obtained in the step B3; 。
8. The method of using a six degree of freedom flexible docking and pose measurement platform according to claim 6 or claim 7, wherein the method of determining the change matrix of the docking mechanism mounting interface moving along the y, z axis and rotating around the x axis comprises the steps of: C1, a change matrix of the installation interface of the docking mechanism moving along the y-axis and the z-axis and rotating around the x-axis is as follows: ; In the formula, Installing a change matrix of the interface for the docking mechanism to move along the y-axis and the z-axis and rotate around the x-axis; The interface is mounted for rotation about the x-axis for the docking mechanism, The interface is mounted for displacement along the y-axis for the docking mechanism, Mounting the displacement of the interface along the z-axis for the docking mechanism; C2, determining the rotation angle of the docking mechanism mounting interface around the x axis, the displacement of the docking mechanism mounting interface along the y axis and the displacement of the docking mechanism mounting interface along the z axis; C21 establishing a measurement reference plane Measuring reference plane And the formed plane and the equation set for measuring the pose change of the reference plane III of the cube III: ; In the formula, , , A rotation matrix for rotating the interface around the y axis and the z axis is arranged for the docking mechanism; Mounting a rotation matrix for rotating the interface around the x-axis for the docking mechanism; Measuring a reference surface when an interface is installed for a docking mechanism in an initial pose state And measuring a reference plane The coordinates of the points on the plane formed, , Measuring a reference surface when an interface is installed for a docking mechanism in an initial pose state And measuring a reference plane Y-axis coordinates of points on the formed plane; Measuring a reference surface when an interface is installed for a docking mechanism in an initial pose state And measuring a reference plane The normal vector of the plane formed is that of, When the interface is installed for the docking mechanism in the initial pose state, the coordinates of the point on the reference plane III are measured, , When the interface is installed for the docking mechanism in the initial pose state, the y-axis coordinate of the point on the reference plane III is measured, When an interface initial pose state is installed for the docking mechanism, measuring the z-axis coordinate of a point on a reference plane III; When the docking mechanism is installed in an initial pose state of the interface, measuring a normal vector of a reference plane III; After the interface is installed for the docking mechanism to move along the y-axis and the z-axis and rotate around the x-axis, Coordinates of the points; After the interface is installed for the docking mechanism to move along the y axis and the z axis and rotate around the x axis, the reference surface is measured With a measuring reference plane A normal vector of the plane is formed and, After the interface is installed for the docking mechanism to move along the y-axis and the z-axis and rotate around the x-axis, Coordinates of the points; After the interface is installed for the docking mechanism to move along the y axis and the z axis and rotate around the x axis, the normal vector of the reference plane III is measured; C22, establishing a laser ranging unit IV, a laser ranging unit V, a laser ranging unit VI and a measuring reference plane Measuring reference plane Measuring an equation set of a distance function relation of a reference plane III; ; Wherein d 4 is that after the installation interface of the docking mechanism moves along the y-axis and the z-axis and rotates around the x-axis, the laser starting point of the laser ranging unit IV is positioned on the measurement reference plane along the laser irradiation direction D 5 is the distance from the laser starting point of the laser ranging unit V to the measuring reference plane along the laser irradiation direction after the installation interface of the docking mechanism moves along the y-axis and the z-axis and rotates around the x-axis D 6 is the distance from the laser starting point of the laser ranging unit VI to the measurement reference plane III along the laser irradiation direction after the installation interface of the docking mechanism moves along the y axis and the z axis and rotates around the x axis, D 0 is the coordinate of the laser starting point of the laser ranging unit IV, E 0 is the coordinate of the laser starting point of the laser ranging unit V, and F 0 is the coordinate of the laser starting point of the laser ranging unit VI; a direction vector which is the laser irradiation direction of the laser ranging unit VI; a direction vector of the laser irradiation direction of the laser ranging units IV and V; C23, combining the equation set of the step C21 and the equation set of the step C22, and determining the rotation angle of the docking mechanism installation interface around the x axis, the displacement of the docking mechanism installation interface along the y axis and the displacement of the docking mechanism installation interface along the z axis; ; ; Wherein, the ; In the formula, The Z-axis coordinate of the laser starting point of the laser ranging unit IV; the Z-axis coordinate of the laser starting point of the laser ranging unit V; the laser ranging unit IV is used for measuring the direction vector of the laser starting point; the direction vector of the laser starting point of the laser ranging unit V; the direction vector of the laser starting point of the laser ranging unit VI; 、、、、、 respectively, intermediate variables, T representing the matrix transpose.
9. The method of using a six degree of freedom flexible docking and pose measurement platform according to claim 8, wherein the method of calculating the six degree of freedom pose of the docking mechanism mounting interface relative to the initial pose is determined as follows: ; In the formula, And installing the six-degree-of-freedom pose of the interface relative to the initial pose for the docking mechanism.

Description

Six-degree-of-freedom flexible docking and pose measuring platform and use method thereof Technical Field The invention relates to the field of spacecraft ground simulation experiments, in particular to a six-degree-of-freedom flexible docking and pose measuring platform and a using method thereof. Background In order to test the docking performance of a space docking mechanism, ground experimental research and experimental verification are generally required. Semi-physical testing, also known as hardware-in-the-loop testing, is a common method for space institutions to develop docking performance testing on the ground. The semi-physical test is to calculate the space docking dynamics characteristics of the spacecraft by using a dynamics model, and then to drive the docking mechanism to dock by using the model calculation result executed by the test bed executing mechanism. In the butt joint test process of the butt joint mechanism, the active butt joint mechanism or the passive butt joint mechanism is connected with the test bed executing mechanism through the rigid mounting platform, meanwhile, as the semi-physical test is a real-time dynamic simulation, the six-dimensional stress state of the butt joint mechanism is required to be obtained in real time through the six-dimensional force sensor, and the six-dimensional stress measurement result is brought into the dynamic model of the resolving unit to carry out a new iteration, the response speed and the motion precision of the test bed executing mechanism are required to be very high, however, the existing test bed executing mechanism is high in manufacturing cost, high in technical difficulty, easy to cause resolving distortion, even execute divergence, cause equipment injury, and the problems of position overshoot, force overrun and the like caused by slow response speed of the test bed executing mechanism are required to be solved. Disclosure of Invention Aiming at the defects of the prior art, the invention aims to provide a six-degree-of-freedom flexible docking and pose measuring platform and a using method thereof. Meanwhile, the attitude measurement of 6 degrees of freedom can be realized in real time, and the attitude change of the flexible mechanism is accessed to the semi-physical measurement platform for calculation in real time, so that the motion distortion brought by the flexible mechanism is eliminated. The aim of the invention is realized by the following technical scheme: A six-degree-of-freedom flexible docking and pose measuring platform comprises a platform foundation base, flexible mechanisms, supporting frames and docking mechanism installation interfaces, wherein 3 flexible mechanisms are uniformly distributed above the platform foundation base, the supporting frames are arranged above each flexible mechanism, the docking mechanism installation interfaces are fixedly connected above the supporting frames, cubes I, cubes II and cubes III are uniformly distributed on the lower surfaces of the docking mechanism installation interfaces, the bottom surfaces of the cubes I, the cubes II and the cubes III are all used as measuring reference surfaces and are coplanar, and the bottom surfaces of the cubes I, the cubes II and the cubes III are respectively measuring reference surfaces Measuring reference planeMeasuring reference planeOne side face of the cube I and one side face of the cube II are used as measurement reference surfaces and are coplanar, and the side faces of the cube I and the cube II serving as the measurement reference surfaces are respectively measurement reference surfacesMeasuring reference planeOne side of the cube III is used as a measuring reference plane III and is matched with the measuring reference planeMeasuring reference planePerpendicular to each other, measuring reference planeMeasuring reference planeMeasuring reference planeMeasuring reference planeMeasuring reference planeAnd the opposite sides of the measurement reference plane III are respectively provided with a laser ranging unit I, a laser ranging unit II, a laser ranging unit III, a laser ranging unit IV, a laser ranging unit V and a laser ranging unit VI which are fixed on the base of the platform. The flexible mechanism comprises a rigid lower mounting plate, a flexible rubber plate, a rigid upper mounting plate, a rigid lower mounting frame and a rigid upper cover, wherein the rigid lower mounting plate and the rigid upper mounting plate are respectively and symmetrically fixed on the upper surface and the lower surface of the middle part of the flexible rubber plate and used for compacting the middle part of the flexible rubber plate, the rigid lower mounting plate is fixed on a platform foundation base through a connecting plate, the rigid upper cover and the rigid lower mounting frame are respectively and symmetrically fixed on the upper surface and the lower surface of the edge of the flexible rubber plate, a gap is reserved between the middl