CN-121980675-A - Automatic searching method for static envelope boundary conditions of docking mechanism

CN121980675ACN 121980675 ACN121980675 ACN 121980675ACN-121980675-A

Abstract

The invention discloses an automatic searching method of a static envelope boundary condition of a docking mechanism, which comprises the steps of simplifying a three-dimensional model of the docking mechanism to obtain a simplified three-dimensional model of the docking mechanism, establishing a virtual prototype simulation model of the docking mechanism based on the simplified three-dimensional model of the docking mechanism, designing a searching algorithm of the static envelope boundary condition of the docking mechanism, and adopting the designed searching algorithm of the static envelope boundary condition of the docking mechanism based on the virtual prototype simulation model of the docking mechanism to automatically realize searching and determining of the static envelope boundary condition of the docking mechanism. Compared with the conventional method for describing the static envelope through limited trial and error, the method has better accuracy, universality and engineering applicability, is easy to implement and has obvious effect.

Inventors

LI NING
MA XIAOLONG
XIAO YUZHI
XU FENG
GUO JING
LI PENG
WANG MINGXIAO
CAO YANYAN

Assignees

上海宇航系统工程研究所

Dates

Publication Date: 20260505
Application Date: 20251231

Claims (8)

1. An automatic search method for a static envelope boundary condition of a docking mechanism is characterized by comprising the following steps: simplifying the three-dimensional model of the docking mechanism to obtain a simplified three-dimensional model of the docking mechanism; establishing a virtual prototype simulation model of the docking mechanism based on the simplified three-dimensional model of the docking mechanism; Designing a static envelope boundary condition searching algorithm of the docking mechanism; based on the simulation model of the virtual prototype of the docking mechanism, the designed docking mechanism static envelope boundary condition searching algorithm is adopted to automatically realize the searching and the determining of the docking mechanism static envelope boundary condition.
2. The automatic searching method for the static envelope boundary condition of the docking mechanism according to claim 1, wherein the docking mechanism comprises a driving end and a driven end, the driving end comprises a plurality of groups of claw holding components, the claw holding components are in an open state, the driven end comprises a plurality of locking handle components, and the azimuth relation between the claw holding components and the locking handle components is uniquely matched.
3. The automatic search method for the static envelope boundary conditions of the docking mechanism according to claim 2, wherein the simplified processing is performed on the three-dimensional model of the docking mechanism to obtain a simplified three-dimensional model of the docking mechanism, and the automatic search method comprises the steps of deleting parts, irrelevant to the static envelope of the docking mechanism, in a driving end component and a driven end component in the three-dimensional model, simplifying geometric features, relevant to the static envelope of the docking mechanism, in the driving end component and the driven end component, merging the components of the driving end into one driving end part, merging the components of the driven end into one driven end part, reducing the number of parts of the model, reducing the complexity of geometric contours, and obtaining the simplified three-dimensional model of the docking mechanism.
4. The method for automatically searching for a static envelope boundary condition of a docking mechanism according to claim 3, wherein the step of establishing a virtual prototype simulation model of the docking mechanism based on the simplified three-dimensional model of the docking mechanism comprises the steps of: importing the three-dimensional model based on the simplified docking mechanism into virtual prototype simulation software; Creating a passive docking coordinate system { BD } and an active docking coordinate system { ZD }, wherein the coordinate system { BD } is fixedly connected to a passive end of the docking mechanism, an origin O BD of the coordinate system { BD } is positioned at an intersection point of central axes of all lock handle components, an X BD axis is directed to a mounting surface of the passive end of the docking mechanism along the longitudinal axis direction of the passive end of the docking mechanism, a Y BD axis is directed to the direction of a number 1 lock handle component of the passive end of the docking mechanism along the central axis of the number 1 lock handle component of the docking mechanism, and a Z BD axis, an X BD axis and a Y BD axis form a right-hand rectangular coordinate system; In the virtual prototype simulation software, a plurality of constraint closed spaces are constructed based on the geometric characteristics of the claw-holding assembly, wherein the geometric characteristics of the end parts of the claw-holding assembly are extended, and the virtual characteristics are used for filling the upper boundary of the open space opened by the claw-holding assembly; In virtual prototype simulation software, establishing a contact collision force between the geometry of a lock handle part and the geometry of a constraint enclosed space of a corresponding holding claw assembly, establishing a measurement function of the contact collision force, and taking a measurement result of the contact collision force as a judgment basis of whether the geometry of a driving end and a driven end interfere or not; And constructing and obtaining a simulation model of the virtual prototype of the docking mechanism.
5. The method of claim 4, further comprising defining a nominal position of the docking mechanism as a standard position describing a spatial relative state relationship between the active and passive ends of the docking mechanism, wherein the active docking coordinate system is zero relative to the passive docking coordinate system at the nominal position.
6. The method for automatically searching the boundary conditions of the static envelope of the docking mechanism according to claim 5, wherein the algorithm for searching the boundary conditions of the static envelope of the docking mechanism comprises a translation static envelope boundary condition searching algorithm and a rotation static envelope boundary condition searching algorithm.
7. The automatic search method of the static envelope boundary condition of the docking mechanism according to claim 6, wherein when the search and determination of the static envelope boundary condition of the docking mechanism are performed by adopting a translational static envelope boundary condition search algorithm, there are: assuming that the three-axis position and three-axis pose of the active docking coordinate system relative to the passive docking coordinate system are denoted (px, py, pz) and (rx, ry, rz), respectively, then there are: Making the attitude angles of the positions py, pz and the axes constant to be zero, making the initial value of the position px zero, carrying out iterative search along the negative direction and the positive direction of the X BD axis respectively, and determining the position lower boundary X min and the position upper boundary X max of the active docking coordinate system relative to the passive docking coordinate system along the X BD axis direction; Taking a plurality of nodes between a position lower boundary X min and a position upper boundary X max , and marking the nodes as X i ; For the position of a node X i , making the attitude angles of the position pz and each axis constant to be zero and the initial value of the position py be zero, carrying out iterative search along the negative direction and the positive direction of the Y BD axis in the transverse tangential plane of the node X i respectively, and determining the lower boundary Y i_min and the upper boundary Y i_max of the position of the active docking coordinate system relative to the passive docking coordinate system along the Y BD axis direction; For the position X i , the attitude angle of the position py and each axis is constant to zero, the initial value of the position pz is zero, iterative search is carried out along the negative direction and the positive direction of the Z BD axis respectively in the transverse tangential plane of the node X i , and the position lower boundary Z i_min and the position upper boundary Z i_max of the active docking coordinate system relative to the passive docking coordinate system along the Z BD axis direction are determined.
8. The automatic search method for the boundary conditions of the static envelope of the docking mechanism according to claim 7, wherein when the search and determination of the boundary conditions of the static envelope of the docking mechanism are performed by adopting a rotational static envelope boundary condition search algorithm, there are: For the node X i , keeping the position pz constant to be zero, taking a plurality of nodes between the position lower boundary Y i_min and the position upper boundary Y i_max , and marking the nodes as Y j ; Making the Y BD axis attitude angle ry and the Z BD axis attitude angle rz constant to be zero, performing iterative search on the positions (X i ,Y j , 0) around the negative direction and the positive direction of the X BD axis respectively, and determining a corner lower boundary R Xij_min and a corner upper boundary R Xij_max of the active docking coordinate system relative to the passive docking coordinate system around the X BD axis direction; making the X BD axis attitude angle rx and the Z BD axis rz constant to be zero, performing iterative search on the positions (X i ,Y j , 0) around the negative direction and the positive direction of the Y BD axis respectively, and determining a corner lower boundary R Yij_min and a corner upper boundary R Yij_max of the active docking coordinate system relative to the passive docking coordinate system around the Y BD axis direction; Making the attitude angles rx and Y BD axis ry of the X BD axis constant to be zero, performing iterative search on the positions (X i ,Y j , 0) around the negative direction and the positive direction of the Z BD axis respectively, and determining a corner lower boundary R Zij_min and a corner upper boundary R Zij_max of the active docking coordinate system relative to the passive docking coordinate system around the Z BD axis direction; For the node X i , let the position py be constant to zero, take a plurality of nodes between the position lower boundary Z i_min and the position upper boundary Z i_max , and record as Z k ; Making the Y BD axis attitude angle ry and the Z BD axis rz constant to be zero, performing iterative search on the position (X i ,0,Z k ) around the negative direction and the positive direction of the X BD axis respectively, and determining a corner lower boundary R Xik_min and a corner upper boundary R Xik_max of the active docking coordinate system around the X BD axis direction relative to the passive docking coordinate system; Making the attitude angles rx and rz of the X BD -axis and the Z BD -axis constant to be zero, performing iterative search on the position (X i ,0,Z k ) around the negative direction and the positive direction of the Y BD -axis respectively, and determining a corner lower boundary R Yik_min and a corner upper boundary R Yik_max of the active docking coordinate system around the Y-axis direction relative to the passive docking coordinate system; and (3) making the attitude angles rx and ry of the X BD axis and Y BD axis constant to zero, performing iterative search on the position (X i ,0,Z k ) around the negative direction and the positive direction of the Z BD axis respectively, and determining a corner lower boundary R Zik_min and a corner upper boundary R Zik_max of the active docking coordinate system around the Z axis direction relative to the passive docking coordinate system.

Description

Automatic searching method for static envelope boundary conditions of docking mechanism Technical Field The invention belongs to the technical field of space docking, and particularly relates to an automatic searching method for a static envelope boundary condition of a docking mechanism. Background The space docking enables the two spacecrafts to be combined on a space orbit and structurally connected into a whole. The space docking technology is mainly used for providing services for space facilities running for a long time, developing on-orbit construction and running services of large-scale space buildings, reconstructing on-orbit spacecraft and the like. The space docking mechanism is used as a complex and key space mechanism and is always an important sign of the development of aerospace technology. When the space docking mechanism is in-orbit docking, the accuracy of the initial docking condition of the spacecraft structure greatly influences the rigid connection and the safe separation between the spacecrafts. When the spacecraft is initially connected through the docking mechanism, position and posture deviation usually exists, and in the capturing process, the pose correction is realized through interaction between the driving end and the driven end of the docking mechanism. The static envelope space of the docking mechanism is analyzed, so that the space capturing capacity of the docking mechanism can be judged, and meanwhile, a basis is provided for the layout design of the docking mechanism of the spacecraft. Through retrieval, the prior art mainly focuses on aspects of overall design of a docking mechanism, development of key components, docking mechanics simulation, docking dynamics control, docking mechanism test and the like, and an analysis method for a static envelope space of the docking mechanism is not seen. In practical application, when analyzing the static envelope space of the docking mechanism, the conventional implementation way is that a limited trial-and-error mode is adopted to roughly select a limit state set with larger pose deviation of the driving end relative to the driven end of a plurality of groups of docking mechanisms, and the static envelope is approximately represented, and the boundary condition of the static envelope space of the docking mechanism is calculated and detected without adopting a systematic searching method, so that the accuracy is not high, and universality and engineering applicability are lacked. Therefore, there is a need to develop an automatic search method study for docking mechanism static envelope boundary conditions. Disclosure of Invention The invention solves the problems of overcoming the defects of the prior art, providing an automatic searching method for the static envelope boundary conditions of a docking mechanism, and aiming at solving the problems of the prior art lacking a method for analyzing the static envelope space of the docking mechanism. In order to solve the technical problems, the invention discloses an automatic searching method for a static envelope boundary condition of a docking mechanism, which comprises the following steps: simplifying the three-dimensional model of the docking mechanism to obtain a simplified three-dimensional model of the docking mechanism; establishing a virtual prototype simulation model of the docking mechanism based on the simplified three-dimensional model of the docking mechanism; Designing a static envelope boundary condition searching algorithm of the docking mechanism; based on the simulation model of the virtual prototype of the docking mechanism, the designed docking mechanism static envelope boundary condition searching algorithm is adopted to automatically realize the searching and the determining of the docking mechanism static envelope boundary condition. The automatic searching method for the static enveloping boundary condition of the docking mechanism comprises a driving end and a driven end, wherein the driving end comprises a plurality of groups of claw holding assemblies, the claw holding assemblies are in an open state, the driven end comprises a plurality of lock handle parts, and the azimuth relation between the claw holding assemblies and the lock handle parts is uniquely matched. In the automatic searching method of the static envelope boundary condition of the docking mechanism, the three-dimensional model of the docking mechanism is simplified to obtain the simplified three-dimensional model of the docking mechanism, and the method comprises the steps of deleting parts, irrelevant to the static envelope of the docking mechanism, in a driving end assembly and a driven end assembly in the three-dimensional model, simplifying geometric characteristics, relevant to the static envelope of the docking mechanism, in the driving end assembly and the driven end assembly, merging all assemblies of the driving end into one driving end part, merging all assemblies of the driven en