Docking strategy for a space station container docking device based on adaptive sensing

A fractional-step docking strategy based on adaptive sensing is proposed for an orthogonally distributed container docking device that exhibits various characteristics, including modularization, miniaturization, extensibility, and peripheral layout. A dynamic model of a body combined with a space station container and robotic arm and a contact dynamic model between the combined body and the docking device are established to lay the foundation for the docking determination of the container in limit poses. Taking the structural and dynamic characteristics of the orthogonally distributed docking device into consideration, the actions of a diagonal double-docking hook were matched under limited working conditions. A 6-D force sensor placed at the end of the robotic arm was used to perceive the contact force of the container and the position of the docking hook, providing a basis for selecting a docking strategy. The tolerance of the docking device was analyzed when applying the docking strategy, the results of which demonstrated a much larger tolerance than that found in the synchronous docking. An orthogonally distributed docking device and an experimental platform were developed, and the tolerance of the device when using the adaptive sensing docking strategy was tested and verified. A comparison between the experiment and simulation proves the effectiveness and feasibility of the proposed adaptive sensing docking strategy.