Design and Modelling of a Hexagonal Parallel Docking Manipulator for Space Applications
Keywords:
hexagonal parallel manipulator, Spacecraft docking, Positioning accuracy, Graph theory, Kinematic analysis, docking automationAbstract
This paper presents a comprehensive analysis and development of a hexagonal parallel manipulator for docking and undocking spacecraft. The combination of Euclidean polyhedral geometry with a parallel kinematic structure and a novel RRSCS-type combined legs provides high spatial mobility, precise relative positioning, and robustness against residual angular velocities and alignment errors. The manipulator’s dual-system architecture, incorporating both soft and hard capture systems, enables staged contact formation, reliable mechanical coupling, interface sealing, and the transfer of energy and data between active and passive modules.
Docking and undocking procedures, including off-nominal scenarios, are described in detail, demonstrating the system’s ability to safely manage complex multi-body interactions while maintaining structural integrity and operational reliability. The application of graph theory allows formalization of the manipulator’s kinematic structure.
The proposed hexagonal parallel manipulator shows significant potential for automated orbital operations, providing accuracy, repeatability, and adaptability.
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