Research on collaborative locking strategy for distributed locking system of space manipulator

In this paper, the dynamic interaction between the locking system and the space manipulator is analyzed, and a misalignment tolerance capability analysis method for the distributed locking system of the space manipulator is proposed. Based on the structure and layout characteristics of the locking mechanism, the collision dynamics analysis between the manipulator and the locking system during the locking process is carried out, and the factors for the locking failure caused by the escape of the locking frame on the passive end of the locking mechanism are obtained. Aiming at the factors of escape of the locking frame and improving the misalignment tolerance of the locking system, the locking action matching of the active end of the locking system is carried out, which lays a foundation for the design of a collaborative locking strategy. The collaborative locking strategy model of the locking system was established to match the locking speed of the hook in the locking stage. Using the proposed misalignment tolerance capability analysis method combined with simulation software to simulate the conventional locking strategy and the collaborative locking strategy. By comparing the simulation results, the large misalignment tolerance capability of the collaborative locking strategy is verified.