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研究了两个带有周边式对接机构的航天器在对接捕获过程中 ,对接机构相互接触后和产生接触滑移时对接系统的运动学特性。根据对接机构的空间特点 ,以矢量代数为描述工具 ,建立了对接机构之间接触滑移的运动约束方程 ,及其接触点在对接机构上的相对滑移速度方程
The kinematic characteristics of the docking system of two spacecraft with a peripheral docking mechanism during docking and catching were studied. According to the spatial characteristics of docking mechanism, vector algebra is used as a description tool to establish the kinematic constraint equation of contact slippage between mating mechanisms and the relative slippage velocity equation of the contact point on the docking mechanism