空间弱撞击对接机构对接精度分析
Aanalysis of Docking Accuracy of Spatial Low-impact Mating System

以空间弱撞击对接机构（LIDS）的对接精度为研究对象，参考并联空间六自由度机构的反解方程，推导了LIDS对接过程的精度分析模型。通过Matlab软件对机构对接过程中对接环的位置和姿态偏差特性进行了仿真分析，讨论了对接环铰点圆半径对机构精度的影响。以LIDS的初步设计仿真模型为例，得出了工作空间内位姿精度偏差最大值及其所处位置，验证了模型满足精度设计要求。
In this paper, the docking accuracy of the low-impact mating system is studied. Referring to the anti-solving equations of the spatial parallel six degrees of freedom mechanism, we deduce the docking accuracy analysis model for the docking process of the low-impact mating system. Then the position and attitude error of the docking ring of low-impact mating system is analyzed with Matlab and the influence of the docking ring radius on the accuracy of the mating system is discussed. Taking the preliminary design simulation model of LIDS for example, we determine the maximum position and attitude error and its location in the working space, and verify the model meets the requirement of accuracy design