航天器大型舱段柔性对接技术研究

针对航天器大型舱段的自动柔性对接需求，基于并联调姿平台（6SPS）的舱段柔性对接技术开展研究。采用6SPS作为舱段位姿调整装置，在其6个支链上设置力传感器，测量每个支链所受的轴向力。在柔性对接控制中，根据负载质量特性及调姿平台姿态实时解算每个支链上由负载重力引起的轴向力，作为理论力；将实际测得的支链力与该理论力比较，进行力随动控制并调整支链长度，实现力反馈下的柔性对接控制。试验证明了力随动控制能实现根据支链力变化实时调整调姿平台位姿，满足舱段柔性对接的需求。

The flexible docking technology for large spacecraft cabins

In order to realize the automatic flexible docking of spacecraft cabins, a method based on 6SPS is studied. The 6SPS parallel platform is chosen as the adjustment mechanism, force sensors are placed on each kinematic chain to measure the axial forces. For the flexible force control, the axial force caused by the load on the kinematic chain is calculated from the mass property of the load and the attitude of the parallel platform, which is used as the theoretical force. By comparing the axial force from the sensor with the theoretical force, and adjusting the length of the kinematic chain, the flexible docking is realized. The experiment results show that the parallel platform can be adjusted according to the axial force of the kinematic chain with the method, and with the method, the requirements for the flexible docking of spacecraft cabins can be met.