Simulation of Spacecraft Cabin Automatic Docking

The traditional way for spacecraft cabin assemble usually adopts rigid tooling for support and manual adjustment of the position of the cabin. This type of docking assembly method usually has the problems of high labor intensity, low efficiency and long cycle. For the purpose of realize automatic assembly, this article takes the common cylindrical tube section as the research object, and calculates the six position and attitude parameters of the cabin through the kinematic analysis of the posture adjustment process. In order to ensure the stability of the cabin’s posture alignment, under the premise of dynamic constraints, a polynomial method is used to plan the trajectory of the cabin’s posture alignment. Numerical simulation verifies that the cabin can efficiently complete the pose adjustment and automatic docking.