CN-121980676-A - Static envelope space analysis method for docking mechanism

CN121980676ACN 121980676 ACN121980676 ACN 121980676ACN-121980676-A

Abstract

The invention discloses a static envelope space analysis method of a docking mechanism, which comprises the steps of simplifying geometric outline characteristics of a driving end and a driven end of the docking mechanism, establishing equivalent mathematical models of the driving end and the driven end of the docking mechanism based on the simplified geometric outline characteristics of the driving end and the driven end of the docking mechanism, designing an interference checking algorithm of the driving end and the driven end of the docking mechanism, performing interference checking by adopting the interference checking algorithm on the basis of the established equivalent mathematical models of the driving end and the driven end of the docking mechanism, and performing traversal searching by combining a boundary searching algorithm to obtain a translational static envelope space and a rotational static envelope space. The method solves the problem that the prior art lacks a method for quantifying capturing and correcting the capacity of the docking mechanism.

Inventors

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

Assignees

上海宇航系统工程研究所

Dates

Publication Date: 20260505
Application Date: 20251231

Claims (8)

1. A method of static envelope spatial analysis of a docking mechanism, comprising: The geometric outline characteristics of the driving end and the driven end of the docking mechanism are simplified; based on the geometric outline characteristics of the driving end and the driven end of the simplified docking mechanism, establishing an equivalent mathematical model of the driving end and the driven end of the docking mechanism; Designing an interference checking algorithm of an active end and a passive end of the docking mechanism; based on the established equivalent mathematical models of the driving end and the driven end of the docking mechanism, adopting an interference checking algorithm to perform interference checking, and determining the maximum reachable positions of the driving end and the driven end of the docking mechanism along the longitudinal direction and the maximum reachable positions along the two orthogonal directions respectively in transverse tangential planes at different longitudinal relative distances to obtain a translational static envelope space; based on the obtained translational static envelope space, adopting an interference checking algorithm to perform interference checking, and determining the maximum reachable angles around the orthogonal triaxial directions respectively in transverse tangential planes of the driving end and the driven end of the docking mechanism at different longitudinal relative distances to obtain the rotational static envelope space.
2. The method for analyzing the static envelope space of the docking mechanism according to claim 1, wherein the docking mechanism is a claw-holding type docking mechanism and comprises a driving end and a driven end, the driving end comprises a plurality of claw holding assemblies, the driven end comprises a plurality of lock rod parts, and the azimuth relation between the claw holding assemblies and the lock rod parts is uniquely matched.
3. The method of claim 2, further comprising defining an active docking coordinate system, a passive docking coordinate system, and a nominal position of the docking mechanism, wherein: The passive docking coordinate system { BD }, wherein the passive docking coordinate system { BD }, the origin O BD of the coordinate system { BD }, is positioned at the intersection point of the central axes of the locking rod components, the X BD axis is along the longitudinal axis direction of the passive docking mechanism end and points to the mounting surface of the passive docking mechanism end, the Z BD axis is along the central axis of the locking rod component No. 1 of the passive docking mechanism end and points to the opposite direction of the locking rod component No. 1, and the Y BD axis, the Z BD axis and the X BD axis form a right-hand rectangular coordinate system; The active docking coordinate system { ZD }, wherein the active docking coordinate system { ZD } is fixedly connected to the active end of the docking mechanism, the origin O ZD of the coordinate system { ZD } is positioned on the central axis of the mounting surface of the active end of the docking mechanism, and the origin O ZD of the coordinate system { ZD } coincides with the origin O BD of the coordinate system { BD }, and the three-axis direction of the coordinate system { ZD } coincides with the three-axis direction of the coordinate system { BD }, when the active end of the docking mechanism and the passive end of the docking mechanism are in a docking completion state; the nominal position type is a standard position type describing the spatial relative state relation between the driving end and the driven end of the docking mechanism, and under the nominal position type, the pose of the driving docking coordinate system relative to the driven docking coordinate system is zero.
4. A method of static envelope space analysis of a docking mechanism according to claim 3, characterized in that simplifying the geometric profile features of the active and passive ends of the docking mechanism comprises: The method comprises the steps of sequentially connecting a plurality of cylindrical features, approximately representing the geometric outline of each group of claw-holding assembly in the driving end of the docking mechanism, and enabling the feature outline formed by sequentially connecting the plurality of cylindrical features to be close to the inner side boundary of the real outline of the claw-holding assembly by adjusting the radius of the cylinder; the geometric outline of each locking bar component in the passive end of the docking mechanism is approximately represented by using a plurality of cylindrical features, and the length and the radius of the cylinder are set to be the same as the size of the locking bar component.
5. The method of claim 4, wherein establishing an equivalent mathematical model of the active and passive ends of the docking mechanism based on the geometric profile features of the simplified active and passive ends of the docking mechanism comprises: On the basis of the geometric outline characteristics of the driving end and the driven end of the simplified docking mechanism, the opening above each group of claw-holding components is sealed by using a cylindrical characteristic, the driving end of the docking mechanism is simplified into a plurality of virtual constraint closed spaces, and the boundary of each virtual constraint closed space is formed by sequentially connecting a plurality of cylinders with a certain radius; simplifying the passive end of the butt joint mechanism into a plurality of cylinders with a certain radius; Under the active docking coordinate system, establishing an equivalent mathematical model of the active end of the docking mechanism according to the three-dimensional position coordinates of the circle centers of all the cylindrical end surfaces of the active end of the simplified docking mechanism and the radius of all the cylinders; Under the passive docking coordinate system, an equivalent mathematical model of the passive end of the docking mechanism is established according to the three-dimensional position coordinates of the circle centers of the end faces of the cylinders of the passive end of the simplified docking mechanism and the radius of each cylinder.
6. The method for analyzing static envelope space of a docking mechanism according to claim 5, wherein the interference checking algorithm is configured to sequentially determine, under a set of conditions of pose of a given docking mechanism driving end relative to a driven end, a geometric interference state between each cylinder of the driven end and each set of cylinder constraint closed spaces corresponding to the driving end, and specifically: The interference state of one cylinder of the passive end and each cylinder of the corresponding constraint enclosed space of the active end is simplified into the calculation of the minimum distance between the side surfaces of two cylinders of a plurality of groups of spaces: assume that two cylinders are in space, namely a cylinder S1 and a cylinder S2, the circle centers of two end surfaces of the cylinder S1 are respectively a point A and a point B, and the radiuses are both The circle centers of the two end surfaces of the cylinder S2 are respectively a point C and a point D, and the radiuses are both Point E on axis CD and point F on axis AB, line EF being a common perpendicular to axis CD and axis AB, and given the spatial coordinates of points A, B, C, D, there are: Wherein, the Representing the spatial vector of points a and B, Representing the spatial vector of points C and D, Representing the spatial vector of points E and F, Representing the spatial vector of points a and C, Representation and representation The spatial vectors of the parallel-wise vectors, Representation and representation The unit vectors of the parallel-wise direction, Representation of At the position of The length of the projection on the upper surface, Representing the minimum distance between the sides of the cylinder S1 and the cylinder S2; If it is The two cylindrical sides do not interfere; If it is And then two cylindrical sides interfere.
7. The method of claim 6, wherein the translational static envelope space is obtained by: Performing interference inspection by adopting an interference inspection algorithm, and determining a position lower boundary X min and a 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 , enabling the Z BD axis direction position dz of the active docking coordinate system relative to the passive docking coordinate system to be zero, enabling all attitude angles to be zero, and determining a position lower boundary Y i_min and a position upper boundary Y i_max of the active docking coordinate system relative to the passive docking coordinate system along the Y BD axis direction; For the node X i , a plurality of nodes are taken between a position lower boundary Y i_min and a position upper boundary Y i_max and marked as Y j , all attitude angles are made to be zero, and a position lower boundary Z ij_min and a position upper boundary Z ij_max of an active docking coordinate system relative to a passive docking coordinate system along the Z BD axis direction are determined at the node X i and the node Y j ; And (3) taking all pose sets [ X i ,Y j ,Z ij_min , 0] and [ X i ,Y j ,Z ij_max , 0] of the obtained active docking coordinate system relative to the passive docking coordinate system as translational static envelope spaces.
8. The method of claim 7, wherein the rotational static envelope space is obtained by: taking a plurality of nodes between a position lower boundary Z ij_min and a position upper boundary Z ij_max , and marking the nodes as Z k ; Enabling the Y BD axis attitude angle ry and the Z BD axis attitude angle rz of the active docking coordinate system relative to the passive docking coordinate system to be zero, and determining a corner lower boundary R Xijk_min and a corner upper boundary R Xijk_max of the active docking coordinate system relative to the passive docking coordinate system around the X BD axis direction at the nodes X i , Y j and Z k ; enabling an attitude angle rx of a Y BD axis and an attitude angle rz of a Z BD axis of the active docking coordinate system relative to the passive docking coordinate system to be zero, and determining a corner lower boundary R Yijk_min and a corner upper boundary R Yijk_max of the active docking coordinate system relative to the passive docking coordinate system around the Y BD axis direction at the nodes X i , Y j and Z k ; Enabling an X BD axis attitude angle rx and a Y BD axis attitude angle ry of the active docking coordinate system relative to the passive docking coordinate system to be zero, and determining a corner lower boundary R Zijk_min and a corner upper boundary R Zijk_max of the active docking coordinate system relative to the passive docking coordinate system around the Z BD axis direction at the nodes X i , Y j and Z k ; and taking all pose sets [X i ,Y j ,Z k ,R Xijk_min ,0,0]、[X i ,Y j ,Z k ,R Xijk_max ,0,0]、[X i ,Y j ,Z k ,0,R Yijk_min ,0]、[X i ,Y j ,Z k ,0,R Yijk_max ,0]、[X i ,Y j ,Z k ,0,0,R Zijk_min ]、[X i ,Y j ,Z k ,0,0,R Zijk_max ], of the obtained active docking coordinate system relative to the passive docking coordinate system as a rotation static envelope space.

Description

Static envelope space analysis method for docking mechanism Technical Field The invention belongs to the technical field of docking mechanisms, and particularly relates to a static envelope space analysis method of a docking mechanism. Background The docking mechanism is a mechanism capable of structurally forming two aircrafts into a whole in space through the processes of contact, buffering, capturing, rigid connection and the like, and the main application of the docking mechanism comprises on-track maintenance and service, on-track assembly, cooperative target capturing and the like. The aircraft waiting for docking on the orbit is called a target aircraft, and the aircraft docking with the target aircraft through a series of motion control such as orbital transfer is called an active aircraft. The portion of the docking mechanism that is attached to the target aircraft is referred to as the passive end and the portion of the docking mechanism that is attached to the active aircraft is referred to as the active end. When the initial conditions of docking achieved by the control of the active aircraft are different, different pose states are formed between the active end and the passive end in the capturing and correcting process of the docking mechanism, and the set of three-dimensional space limit positions possibly achieved by the translation and rotation of the active end relative to the passive end is called a static envelope space of the docking mechanism. The analysis of the static envelope space of the docking mechanism has important significance, and comprises any translational and rotational space in the envelope of the docking initial condition which can successfully complete docking, and any translational and rotational space in the whole docking process of capturing, correcting, locking and the like of the docking mechanism under the set docking initial condition. The envelope space of the docking mechanism is a quantitative description of the capture and correction capabilities of the docking mechanism, and can be used for layout optimization and safety design near the docking mechanism mounting surface of the active aircraft and the target aircraft, evaluating the capture capabilities of the docking mechanism, evaluating the interference and collision risk of the aircraft, and the like. When in practical application, the active end or the passive end of the model of the docking mechanism is generally adjusted in three-dimensional model design software, a plurality of groups of states with larger relative pose deviation are found to be used as boundaries of a static envelope space, the number of analysis samples is too small, and the efficiency and the accuracy of the method are not high. Disclosure of Invention The invention solves the problems of overcoming the defects of the prior art, providing a static envelope space analysis method of a docking mechanism, and aiming at solving the problem that the prior art lacks a method for capturing and correcting the capacity of the docking mechanism. In order to solve the technical problems, the invention discloses a static envelope space analysis method of a docking mechanism, which comprises the following steps: The geometric outline characteristics of the driving end and the driven end of the docking mechanism are simplified; based on the geometric outline characteristics of the driving end and the driven end of the simplified docking mechanism, establishing an equivalent mathematical model of the driving end and the driven end of the docking mechanism; Designing an interference checking algorithm of an active end and a passive end of the docking mechanism; based on the established equivalent mathematical models of the driving end and the driven end of the docking mechanism, adopting an interference checking algorithm to perform interference checking, and determining the maximum reachable positions of the driving end and the driven end of the docking mechanism along the longitudinal direction and the maximum reachable positions along the two orthogonal directions respectively in transverse tangential planes at different longitudinal relative distances to obtain a translational static envelope space; based on the obtained translational static envelope space, adopting an interference checking algorithm to perform interference checking, and determining the maximum reachable angles around the orthogonal triaxial directions respectively in transverse tangential planes of the driving end and the driven end of the docking mechanism at different longitudinal relative distances to obtain the rotational static envelope space. In the static enveloping space analysis method of the butt joint mechanism, the butt joint mechanism is a claw-holding type butt joint mechanism and comprises a driving end and a driven end, wherein the driving end comprises a plurality of groups of claw holding components, the driven end comprises a plurality of lock rod component