Soft-Hard Docking Mechanism for Autonomous Vehicle Alignment
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Solution Overview
Problem
Current autonomous vehicle docking systems face challenges in aligning and securely coupling vehicles without imparting significant force, especially in environments like outer space where precise alignment and minimal perturbation are crucial for successful docking and undocking processes.
Innovation Solution
The docking system employs a combination of extendable flexible tensile elements for soft-docking, followed by rigidization using auto-alignment load-bearing guideposts and cam-actuated mechanisms to achieve a stable hard-dock, allowing for precise alignment and secure coupling of chase and target vehicles, while also enabling efficient undocking without substantial force.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If a hard-docking mechanism is used to securely couple vehicles, then coupling strength is improved, but force impact on vehicle trajectories and stability increases
Solution Approach 1:
The docking process is divided into two distinct phases: soft-docking and hard-docking. The soft-docking phase uses a flexible tensile element to establish initial contact and alignment without significant force, while the hard-docking phase uses a rigid mechanism to secure the coupling. This segmentation allows the system to achieve secure coupling while minimizing trajectory disruption by separating the alignment function from the coupling function.
Solution Approach 2:
The soft-docking process performs preliminary alignment and contact establishment before the hard-docking mechanism engages. The flexible tensile element first captures and aligns the vehicles, and only after this preliminary positioning is achieved does the rigid hard-docking mechanism engage to provide secure coupling. This preliminary action ensures that the forceful coupling occurs only after proper alignment is established.
2Stability of the object's composition
If a rigid docking mechanism is used to ensure stable connection, then connection stability is improved, but alignment precision during docking deteriorates
Solution Approach 1:
The docking system transitions from a dynamic, flexible state during alignment to a rigid, stable state for connection. The soft-docking phase employs a flexible tensile element that can dynamically adapt to positional variations and guide the vehicles into proper alignment. Once aligned, the system transitions to the rigid hard-docking mechanism that provides stable connection. This dynamic transition allows the system to benefit from both flexibility during alignment and rigidity during connection.
Solution Approach 2:
The system changes the physical parameters of the coupling mechanism between the two phases. During soft-docking, the coupling element is flexible and compliant, allowing for tolerance in alignment and easy adjustment. During hard-docking, the coupling element becomes rigid and fixed, providing stable connection. This parameter change from flexible to rigid enables the system to achieve both precise alignment and stable connection.
3Object-affected harmful factors
If a soft-docking process is used to minimize force impact, then trajectory stability is improved, but coupling security deteriorates
Solution Approach 1:
The coupling security function is segmented between the soft-docking and hard-docking mechanisms. The soft-docking phase provides secure initial capture and alignment, while the hard-docking phase provides secure final coupling. By segmenting the security function across two phases with two different mechanisms, the system achieves both trajectory stability during approach and secure coupling at the end.
Solution Approach 2:
The system merges the functions of soft-docking and hard-docking into a single integrated docking system. The flexible tensile element and rigid coupling mechanism work together in sequence, with the soft-docking phase preparing the connection and the hard-docking phase completing it. This merging of functions ensures that both trajectory stability and coupling security are achieved through the combined action of the two mechanisms.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach ensures precise alignment and secure coupling of vehicles during docking, minimizing perturbation and facilitating reliable undocking, thereby maintaining vehicle trajectories and stability throughout the process.
Implementation Method 1
a spring-loaded probe head and auto-alignment load-bearing guideposts to achieve alignment and rigidization
Data Source
AI summary
A capture mechanism provides for receiving a necked coupling element within a socket, providing for the necked coupling element to slide therewith, biasing a latch lever in an open position so as to provide for receiving the necked coupling element within the socket adjacent to the latch lever, rotating the latch lever with the necked coupling element from the open position to a closed position as the necked coupling element is slid within the socket towards a bottom of the socket, biasing a latch lock against the latch lever, engaging the latch lock with the latch lever when the latch lever is in the closed position so as to provide for latching the latch lever in the closed position and capturing the necked coupling element within the socket, and providing for unlatching the latch lever by releasing the latch lock from engagement with the latch lever.