Multifaceted Euclidean Manipulators of Spacecraft Docking System
Keywords:
Spacecraft docking system, Euclidean manipulators, Structural synthesis, Constructive synthesis, Mobility, Docking unit, Degrees of Freedom, Revolute joint, Sphere in cylindrical slotAbstract
The new spacecraft docking system with new Euclidean support guide legs provide free relative motion of spacecraft and its docking unit are proposed. For the first time, Euclidean hexagonal and octagonal manipulators of docking system are applied. Structural and constructive synthesis of hexagonal and octagonal Euclidean parallel robot manipulators of spacecraft docking system are described. Information on previously and currently used manipulators of docking system and station is presented. Manipulators of these type include “pin-cone” type manipulators and androgynous peripheral manipulators. Systems of links for new Euclidean interface manipulators of docking system and station is designed by using graph theory and theory of structural synthesis.
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