Stewart-inspired parallel spatial docking robot: design, analysis and experimental results
Robotic Intelligence and Automation
ISSN: 2754-6969
Article publication date: 12 June 2023
Issue publication date: 23 June 2023
Abstract
Purpose
This paper aims to focus on the spatial docking task of unmanned vehicles under ground conditions. The docking task of military unmanned vehicle application scenarios has strict requirements. Therefore, how to design a docking robot mechanism to achieve accurate docking between vehicles has become a challenge.
Design/methodology/approach
In this paper, first, the docking mechanism system is described, and the inverse kinematics model of the docking robot based on Stewart is established. Second, the genetic algorithm-based optimization method for multiobjective parameters of parallel mechanisms including workspace volume and mechanism flexibility is proposed to solve the problem of multiparameter optimization of parallel mechanism and realize the docking of unmanned vehicle space flexibility. The optimization results verify that the structural parameters meet the design requirements. Besides, the static and dynamic finite element analysis are carried out to verify the structural strength and dynamic performance of the docking robot according to the stiffness, strength, dead load and dynamic performance of the docking robot. Finally, taking the docking robot as the experimental platform, experiments are carried out under different working conditions, and the experimental results verify that the docking robot can achieve accurate docking tasks.
Findings
Experiments on the docking robot that the proposed design and optimization method has a good effect on structural strength and control accuracy. The experimental results verify that the docking robot mechanism can achieve accurate docking tasks, which is expected to provide technical guidance and reference for unmanned vehicles docking technology.
Originality/value
This research can provide technical guidance and reference for spatial docking task of unmanned vehicles under the ground conditions. It can also provide ideas for space docking missions, such as space simulator docking.
Keywords
Acknowledgements
Funding: This study was supported by the Foundation of Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition under Grant No. ET202204304 and Doctor’s Foundation of Nanchang Hangkong University under Grant No. EA202204257, and in part by the Foundation of Science and Technology of Jiangxi Provincial Education Department under Grant No. GJJ2201128, and the Jiangxi Natural Science Foundations under Grant No. 20224BAB202028 and 20224BAB212009.
Citation
Zhan, G., Zhang, Z., Chen, Z., Li, T., Wang, D., Zhan, J. and Yan, Z. (2023), "Stewart-inspired parallel spatial docking robot: design, analysis and experimental results", Robotic Intelligence and Automation, Vol. 43 No. 3, pp. 313-326. https://doi.org/10.1108/RIA-01-2023-0010
Publisher
:Emerald Publishing Limited
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