Design and Analysis for a Novel Docking Mechanism with T-type Locking Structure in Space

In future, more and more modular docking mechanisms are needed for on-orbit construction of spacecrafts and large platforms, and these docking mechanisms are also used for multi-interfaces' connection, such as mechanical interface, electrical interface, gas interface, liquid interface and so on. In order to adapt well to space environment and meet the large tolerance docking requirement, one novel docking mechansim with T-type locking structure is presented. With the help of space arm, the proposed mechanism's workflow, structure and work principle is introduced. Tolerance analysis model of the docking mechanism is established, and trajectory curve of mechanism's key points is obtained during the docking course, the docking simulation shows that the proposed mechanism can dock well two spacecrafts under the error of ±5mm and ±1° of sapce arm's end effector. A prototype of docking mechanism is developed, and locking force calibration and testing experiment are carried out, experimental results prove the rationality of proposed mechanism and the correctness of theoretical analysis and simulation results in this paper.