基于在线调姿的航天器舱段自动对接系统设计

为解决中小型航天器舱段结构尺寸多样造成的自动化对接效率低、精度差等问题，提出了一种基于在线调姿的自动对接系统。该系统采用多自由度、可适应性调姿托架设计及多传感器数字化在线测量技术，通过调姿运动学分析，优化了航天器舱段对接流程，有效提高了航天器舱段对接的精度和效率。搭建了一台航天器舱段装配原理样机,并进行舱段自动对接试验，结果表明：该系统能够实现舱段部件的快速、精准调姿和对接。

Design of Automatic Docking System for Spacecraft Cabin Based on Online Posture Adjustment

In order to solve the problems of low automation efficiency and poor precision caused by various structural sizes of small and medium-sized spacecraft cabins,an automatic docking system based on online posture adjustment is proposed.The system adopts multi-degree of freedom,adaptable posture bracket design and multi-sensor digital online measurement technology,and optimizes the docking process of spacecraft cabin segment by kinematics analysis.It effectively improves the accuracy and efficiency of docking of spacecraft cabins.A prototype of the spacecraft cabin assembly principle is built and the automatic docking test of the cabin is carried out.The results show that the system can achieve fast and accurate posture and docking of the cabin components.