Proposed future space exploration, such as lunar and Martian expeditions, will require autonomous docking of space vehicles. One proposed candidate method of autonomous docking utilizes a actively controlled parallel manipulator. Operation of the proposed docking manipulator can be segmented into four successive events: prealignment, capture/latching, attenuation, and structural rigidization. This paper discusses the development and testing of a digitally controlled, six-degree-of-freedom (6-DOF), parallel manipulator for the prealignment segment of a docking spacecraft.


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    Title :

    Autonomous Prealignment of a Docking Mechanism


    Contributors:

    Publication date :

    1991


    Size :

    2 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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