Movable Platform Design for Compliant Vehicle Docking
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Solution Overview
Problem
Existing spacecraft docking systems face mechanical complexity and increased failure risk due to multi-axis servo motors and robotic control systems, leading to potential damage and misalignment during docking operations.
Innovation Solution
A movable platform with rotational legs and a biasing mechanism that allows lateral movement between docking assembly floors, minimizing rotation and maintaining parallel orientation, and includes redundant revolute joints for fault tolerance and compliance features to accommodate misalignments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multi-axis servo motors and robotic control systems are used for docking, then docking precision and control capability are improved, but mechanical complexity and failure risk increase
Solution Approach 1:
The patent removes the complex multi-axis servo motor and robotic control system from the docking assembly, extracting only the essential mechanical capture function. The probe assembly with retention elements engages the target vehicle through simple mechanical interaction, eliminating the need for complex actuation and control mechanisms while maintaining docking capability.
Solution Approach 2:
The docking assembly is designed to be self-aligning and self-engaging through the movable platform and compliant probe mechanism. The system automatically accommodates misalignments and completes the capture function without requiring complex external control systems, allowing the mechanical structure to serve its own alignment and engagement needs.
2Adaptability or versatility
If complex mechanical implements are used for docking, then docking capability is achieved, but likelihood of component failure increases
Solution Approach 1:
The patent extracts and eliminates the multi-axis servo motors and robotic control systems that create failure risk, retaining only the essential mechanical capture function through a simplified probe assembly with retention elements that engage the target vehicle through basic mechanical interaction.
Solution Approach 2:
The movable platform with compliant probe mechanism provides built-in tolerance for misalignments and relative motion before engagement occurs. The probe assembly's retention elements are designed to accommodate minor positioning errors, preventing damage to either vehicle during the capture process and reducing the risk of component failure.
3Adaptability or versatility
If relative motion between docked vehicles is allowed, then compliance and misalignment tolerance are improved, but damage to vehicles and docking assemblies may occur
Solution Approach 1:
The patent employs a movable platform that can dynamically adjust the position of the probe assembly relative to the capture vehicle. This dynamic capability allows the system to accommodate misalignments and relative motion between vehicles during the docking process, while the controlled movement prevents excessive forces that could cause damage to either vehicle or the docking assembly.
Data Source
AI summary
Movable platforms for use with a vehicle capture assembly of a capture vehicle and related devices, systems, and methods include floors with rotatable legs extending between the floors. The rotation of the legs relative to one or more of the floors enables the movable platform to move from an initial position to a displaced position as one or more of the floors move relative to each other.