TY - JOUR
T1 - Stewart-inspired parallel spatial docking robot
T2 - design, analysis and experimental results
AU - Zhan, Gan
AU - Zhang, Zhenyu
AU - Chen, Zhihua
AU - Li, Tianzhen
AU - Wang, Dong
AU - Zhan, Jigang
AU - Yan, Zhengang
N1 - Publisher Copyright:
© 2023, Emerald Publishing Limited.
PY - 2023/6/23
Y1 - 2023/6/23
N2 - 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.
AB - 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.
KW - Docking experiment
KW - Finite element analysis
KW - Spatial docking robot
KW - Structural optimization
UR - http://www.scopus.com/inward/record.url?scp=85161681074&partnerID=8YFLogxK
U2 - 10.1108/RIA-01-2023-0010
DO - 10.1108/RIA-01-2023-0010
M3 - Article
AN - SCOPUS:85161681074
SN - 2754-6969
VL - 43
SP - 313
EP - 326
JO - Robotic Intelligence and Automation
JF - Robotic Intelligence and Automation
IS - 3
ER -