Space docking hybrid simulation prototype experiment system

For the purpose of developing the space docking hybrid simulation (SDHS) system used for testing the space docking mechanism on the ground, a prototype experiment system with key features of the SDHS system is established. The mutual force and torque of simulated docking components are measured by a 6D force sensor in this system, and the relative motion of two spacecrafts can be calculated according to the proposed dynamics model. Then this relative motion is implemented by a parallel manipulator. For the prototype system, the dynamics calculation method is presented to construct the dynamics simulation external loop. The stability of the external loop is analyzed to obtain the stability condition. The influence of the manipulator's phase lag on the docking simulation and the compensating method is discussed. On the basis of these analyses, the whole process of space docking of two spacecrafts is simulated successfully. Therefore this prototype system can provide essential designing rules for the development of the actual SDHS system.