Dynamic Synthesis of Three−Point Circle Peripheral Docking Technology Pose
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Published:2023-02-19
Issue:4
Volume:13
Page:2685
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ISSN:2076-3417
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Container-title:Applied Sciences
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language:en
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Short-container-title:Applied Sciences
Author:
Xi Lin12ORCID,
Ni Huasheng3,
Wang Buyun12,
Li Zengchan1,
Zhang Chenghao1
Affiliation:
1. College of Mechanical Engineering, Anhui Polytechnic University, Wuhu 241000, China
2. Institute of Technology Robotics Industry, Anhui Polytechnic University, Wuhu 241007, China
3. Hefei Institute of Intelligence, Chinese Academy of Sciences, Hefei 230036, China
Abstract
Research on space docking technology was first motivated by the application scenario of space station docking in the aviation field. Due to the maturity of this technology, its application field is expanding to other industries. To benefit the intelligent transportation field, this study uses space docking technology to realize combination and reconstruction between car bodies. Different spatial docking methods and structural characteristics are determined by different application scenarios. The docking of the space station is completed in the suspended state of the body in the outer space environment, which requires advanced technology, is high in hardware cost, and involves a small channel diameter. In this study, the docking of the reconstructed vehicle is completed on the ground; thus, it is low in hardware cost and involves a large channel diameter. Based on the above technical requirements, a three−point circular peripheral docking method is designed for the reconstructed vehicle. A visual positioning system is built, the mapping relationship between the camera coordinate system and the landmark coordinate system rotation matrix and translation vector is established, and the adaptive capture behavior is realized by path planning through the inverse pose solution model. Simulation experiments demonstrate that the active and passive vehicle bodies can achieve compliance capture with small collision force under the two conditions of forward collision and oblique collision, and the recovery coefficient after collision and docking is in the range of (0, 0.01). The acceleration decay process under two working conditions is measured in the crash test of a sample vehicle, which verifies the feasibility of the space reconstruction of the vehicle docking mechanism and the ability of this configuration to achieve tasks, providing a constructive idea for space docking technology with a large channel diameter.
Funder
the Open Research Fund of Anhui Engineering Technology Research Center of Automotive New Technique
the Enterprise entrusted scientific research project of Anhui Polytechnic University
the 2022 Anhui Polytechnic University−Jiujiang District University Student Entrepreneurship Support Special Fund Project−Key innovation project
Scientific Research Project of Universities in Anhui Province
Start−up Fund for the Introductions of AHPU
National Natural Science Foundation Youth Program of China
Subject
Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science
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