CN104335697B - Space Docking Mechanism buffer test platform - Google Patents
Space Docking Mechanism buffer test platformInfo
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- CN104335697B CN104335697B CN200610119721.XA CN200610119721A CN104335697B CN 104335697 B CN104335697 B CN 104335697B CN 200610119721 A CN200610119721 A CN 200610119721A CN 104335697 B CN104335697 B CN 104335697B
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- 238000012360 testing method Methods 0.000 title claims abstract description 50
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- 230000013011 mating Effects 0.000 claims abstract description 19
- 230000005484 gravity Effects 0.000 claims abstract description 18
- 238000013519 translation Methods 0.000 claims abstract description 12
- 230000001360 synchronised effect Effects 0.000 claims abstract description 7
- 238000005096 rolling process Methods 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 4
- 238000013016 damping Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 24
- 238000004088 simulation Methods 0.000 abstract description 11
- 230000000694 effects Effects 0.000 abstract description 8
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000006073 displacement reaction Methods 0.000 description 8
- 238000001612 separation test Methods 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
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- 229910052627 muscovite Inorganic materials 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Abstract
The invention discloses a kind of Space Docking Mechanism buffer test platform, comprise the drive end and Partner arranged in opposite directions position, be connected with respective translation stop mechanism by synchronous braking connecting rod; Drive end is provided with and follows the trail of aircraft simulator and active mating mechanism thereof; Partner is provided with target aircraft simulating piece and passive docking mechanism thereof; Drive end is also provided with butt joint ring gravity balance device.Except above-mentioned difference, drive end is identical with other structures of Partner.The quality of aircraft simulator, inertia, length, centroid position are identical with real aircraft.The present invention can arrange joint location and the rate of onset of two aircraft according to test, owing to have employed the motion process of object under air supporting and low friction techniques simulated weightlessness conditions, two aircraft simulators with the attitude of setting and speed docking under the effect of the power of inertia, can reach the beneficial effect of what is called " 1: 1 full physical simulation ".
Description
Technical field
The present invention relates to aircraft test facility, especially a kind of Space Docking Mechanism buffer test platform of virtual space two aircraft docking operation.
Background technology
At present, only have Russia and the U.S. can realize space docking in the world, complete personnel between two aircraft and goods transfer at space, what Muscovite aircraft adopted is airship, U.S.'s employing be space shuttle.Russia is only had to produce docking mechanism (U.S. buys Russian products) at present in the world, Russia has than more complete research technique and technology, the reason of national defense secrets may be involved, fail to find the patent that relevant Space Docking Mechanism docks buffer test device therefor, but Muscovite investigation is known with exchanging from inside info with passing through, the earlier processes that Russia carries out similar docking buffer test is: two " aircraft simulator " adjusted to hang up with sufficiently long rope bundle and carry out, although this method is simple, the accuracy of test is poor.Now usually the method for docking buffer test is: " propulsion device simulating piece is placed on one-dimensional rotation device; realize the luffing of aircraft; wheel word is arranged on special dolly; dolly rolls on guide rail; the longitudinal direction of the process that achieves a butt joint (X to) motion; active mating mechanism is arranged on the end of aircraft simulator, passive docking mechanism is then fixed on the running route of aircraft simulator (X to), during test, driving aircraft simulator moves, simulation docking operation.Can find out, this method can only realize two degree of freedom, can not overcome friction well, initial condition (IC) needed for docking test can not be fully set, passive docking mechanism maintains static, and its quality and inertia take the method for equivalence to obtain, therefore, test is subject to certain restrictions, and the accuracy of test also can not be very high.
Do not find explanation or the report of technology similar to the present invention at present, not yet collect similar data both at home and abroad yet.
Summary of the invention
In order to solve the deficiencies such as the space vehicle docking simulator test accuracy difference of prior art, the object of the present invention is to provide a kind of Space Docking Mechanism buffer test platform.Utilize the present invention, can in the docking operation of ground simulation space two aircraft, the motion of simulation object under below-G conditions, complete the overall process of 1: 1 full physical simulation docking, the docking operation that simulation is actual, with the speed of reality, acceleration/accel and each degree of freedom virtual space docking real conditions, the performance figure of test and examination Space Docking Mechanism.
In order to reach foregoing invention object, the present invention is to provide a kind of Space Docking Mechanism buffer test platform for the technical scheme that its technical matters of solution adopts, and this device comprises drive end and Partner; Drive end and Partner position are arranged in opposite directions, are connected with respective translation stop mechanism by two synchronous braking connecting rods; Drive end is provided with tracking aircraft simulator, it is provided with active mating mechanism; Partner is provided with target aircraft simulating piece, it is provided with passive docking mechanism; Drive end is also provided with butt joint ring gravity balance device.Butt joint ring gravity balance device is arranged on the permanent seat of two DOF turn table by truss.The surface of above-mentioned active mating mechanism has butt joint ring; Butt joint ring is connected by the same balancing device of kicking strap and steel rope, and kicking strap follows butt joint ring motion; Described balancing device is arranged on butt joint ring gravity balance device.Except above difference, other structures of drive end and Partner are completely the same.
Above-mentioned drive end or Partner comprise further: follow the trail of between aircraft simulator and active mating mechanism or be provided with a six-dimension force sensor 36 between target aircraft simulating piece and passive docking mechanism; Follow the trail of aircraft simulator 7 and a corner catch gear 23 is installed between target aircraft simulating piece 8 and two DOF turn table 11; The same cylinder of described corner catch gear 23 connects; Follow the trail of aircraft simulator and the centroid position of target aircraft simulating piece and the center of gyration of respective two DOF turn table to coincide; Two DOF turn table is arranged on an air supporting slide plate, and during operation, air supporting slide plate is suspended on air supporting basic platform; Air supporting slide plate provides longitudinal, the transverse direction and yawing rotation of following the trail of aircraft simulator and target aircraft simulating piece; Tracking aircraft simulator or target aircraft simulating piece connect with servo longitudinal motor, are travelled longitudinally by its driving; Tracking aircraft simulator and target aircraft simulating piece also connect with horizontal servomotor, make cross motion by its driving; Servo longitudinal motor is rack-mount, drives the motion of zigzag tread patterns planker by zigzag tread patterns screw mandrel; Horizontal servomotor is arranged on zigzag tread patterns planker and laterally drives planker motion by laterally driving screw mandrel to drive; Laterally driving planker is provided with holding hand to grab; Holding hand is grabbed to clamp and is followed the trail of aircraft simulator and aircraft simulator motion, and holding hand is grabbed same cylinder and connected; The upper surface of support is provided with the scale of a longitudinal travel sensor, parallel with zigzag tread patterns screw mandrel; The read head of described longitudinal travel sensor is arranged on zigzag tread patterns planker; Surface on zigzag tread patterns planker is provided with the scale of a cross travel sensor, drives screw mandrel parallel with horizontal, and the read head of cross travel sensor is arranged on and laterally drives on planker; One end of air supporting slide plate is connected with a joint sensors, and the other end of described joint sensors drives planker to be connected with horizontal.
Space Docking Mechanism buffer test platform of the present invention adopts simulating piece to carry out alternative aircraft (airship), and the quality of simulating piece, inertia, centroid position are identical with real aircraft, real Space Docking Mechanism is adopted by test specimen, Space Docking Mechanism is divided into initiatively and passive, be arranged on two " aircraft " (simulating piece) end respectively, control aircraft simulator moves, the initial condition (IC) of simulation spacecrafts rendezvous, the motion process of the docking that simulation is actual, is completed the connection of two aircraft by Space Docking Mechanism.In addition, tracking aircraft simulator and target aircraft simulating piece are suspended on air supporting basic platform by air supporting slide plate by the present invention respectively, longitudinal direction (X to), laterally (Z-direction) displacement and driftage (around the Y) degree of freedom of aircraft are provided by air supporting slide plate, rolling (around X) and pitching (around the Z) degree of freedom of aircraft are provided by two DOF turn table, be arranged on two aircraft simulators respectively with initiatively real and passive docking mechanism, therefore, joint location and the rate of onset of two aircraft can be set according to test.Owing to have employed the motion process of object under air supporting and low friction techniques simulated weightlessness conditions, two aircraft simulators can with the attitude of setting and speed docking under the effect of the power of inertia, pose measurement sensor can measure pose and the speed of two aircraft simulators in whole process, and six-dimension force sensor can measure impact in docking operation and cushion effect.Therefore solve the precision problem of virtual space aircraft docking operation, reach the beneficial effect of what is called " 1: 1 full physical simulation ".
Accompanying drawing explanation
Fig. 1 is the constructional drawing of Space Docking Mechanism buffer test platform of the present invention;
Fig. 2 is the constructional drawing of Space Docking Mechanism buffer test platform drive end;
Fig. 3 is the two DOF turn table constructional drawing of Space Docking Mechanism buffer test platform.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further detailed explanation.
Fig. 1 is the constructional drawing of Space Docking Mechanism buffer test platform of the present invention, and Space Docking Mechanism buffer test platform of the present invention comprises: drive end 1 and Partner 2.Drive end 1 is connected by synchronous braking connecting rod 6 with Partner 2.Drive end 1 is provided with and follows the trail of aircraft simulator 7, it is provided with active mating mechanism 3.Partner 2 is provided with target aircraft simulating piece 8, it is provided with passive docking mechanism 4.Drive end 1 has installed butt joint ring gravity balance device 5, and Partner 2 does not have butt joint ring gravity balance device 5, except above-mentioned difference, drive end 1 is identical with other structure of Partner 2.
Fig. 2 is the constructional drawing of Space Docking Mechanism buffer test platform drive end 1.Wherein, Fig. 2 A is the lateral plan of this device; Fig. 2 B is the birds-eye view of this device.As shown in Figure 2, this device comprises: active mating mechanism 3, butt joint ring gravity balance device 5, follow the trail of aircraft simulator 7, air supporting slide plate 9, air supporting basic platform 10, two DOF turn table 11, support 12, zigzag tread patterns planker 13, servo longitudinal motor 14, zigzag tread patterns screw mandrel 15, longitudinal travel sensor 16, laterally drive planker 17, horizontal servomotor 18, laterally drive screw mandrel 19, cross travel sensor 20, holding hand grabs 21, translation stop mechanism 22, corner catch gear 23, joint sensors 24, balancing device 25, steel rope 26, butt joint ring 27, kicking strap 28, six-dimension force sensor 36.
As shown in Figure 2 A and 2B, active mating mechanism 3 is arranged on to be followed the trail of on aircraft simulator 7, follows the trail of between aircraft simulator 7 and two DOF turn table 11 and is provided with a corner catch gear 23.Follow the trail of the quality of aircraft simulator 7, inertia, centroid position and follow the trail of aircraft really identical, the tracking centroid position of aircraft simulator 7 and the center of gyration of two DOF turn table 11 coincide, and two DOF turn table 11 provides the rolling (around X) and pitching (around Z) motion of following the trail of aircraft simulator 7.Two DOF turn table 11 is arranged on air supporting slide plate 9, during operation, air supporting slide plate 9 is suspended on air supporting basic platform 10, air supporting slide plate 9 provides longitudinal direction (X to), laterally (Z-direction) and the driftage (around Y) of following the trail of aircraft simulator 7 to move, follow the trail of aircraft simulator 7 longitudinal direction (X to) and laterally (Z-direction) move and realized by servo longitudinal motor 14 and horizontal servomotor 18, servo longitudinal motor 14 is arranged on support 12 and drives zigzag tread patterns planker 13 to move by zigzag tread patterns screw mandrel 15.Horizontal servomotor 18 is arranged on zigzag tread patterns planker 13 and laterally drives planker 17 to move by laterally driving screw mandrel 19 to drive.Laterally drive and planker 17 is provided with holding hand grabs 21, holding hand is grabbed 21 and is clamped and follow the trail of aircraft simulator 7 and move, and holding hand is grabbed 21 same cylinders and connected, and it steps up and discharge to be realized by cylinder.
As shown in Figure 2 A, the surface of active mating mechanism 3 has butt joint ring 27, and butt joint ring 27 is connected by the same balancing device 25 of kicking strap 28 and steel rope 26, and kicking strap 28 can be followed butt joint ring 27 and be moved.Balancing device 25 is arranged on butt joint ring gravity balance device 5.Butt joint ring gravity balance device 5 is arranged on the permanent seat of two DOF turn table 11 by truss.
Above-mentioned tracking aircraft simulator 7 has the docking initial condition (IC) of 5 freedom of motions, with the rate of onset of docking, each degree of freedom all has the sensor measuring displacement or corner, can measure longitudinal direction (X to), laterally (Z-direction), rolling (around X), pitching (around Z), the pose of driftage (around Y) and speed.Rolling (around X) and pitching (around Z) degree of freedom can be locked by corner catch gear 23, longitudinally (X to), laterally (Z-direction) and (around Y) degree of freedom of going off course can be braked by translation stop mechanism 22, six-dimension force sensor 36 is arranged between aircraft simulator docking mechanism, for measuring the impact and cushion effect that produce in two aircraft simulator docking operations in process of the test.The longitudinal travel of aircraft simulator is measured by longitudinal travel sensor 16 and joint sensors 24, the scale of longitudinal travel sensor 16 is arranged on the upper surface of support 12, parallel with zigzag tread patterns screw mandrel 15, the read head of longitudinal travel sensor 16 is arranged on zigzag tread patterns planker 13, the displacement of real-time measurement zigzag tread patterns planker 13, follow the trail of aircraft simulator 7 cross travel to be measured by cross travel sensor 20 and joint sensors 24, the scale of cross travel sensor 20 is arranged on the surface on zigzag tread patterns planker 13, drive screw mandrel 19 parallel with horizontal, the read head of cross travel sensor 20 is arranged on and laterally drives on planker 17, implement to measure the displacement laterally driving planker 17, joint sensors 24 one end be connected with air supporting slide plate 9 other end with laterally drive planker 17 to be connected, joint sensors 24 can be measured and follow the trail of aircraft simulator 7 relative to the vertical and horizontal displacement laterally driving planker 17, and measure the driftage corner (around Y) following the trail of aircraft simulator 7.And follow the trail of the rolling corner (around X) of aircraft simulator 7 and pitching corner (around Z) respectively by the sensor measurement be arranged on.
As shown in Figure 1, Partner 2 and drive end 1 position are arranged in opposite directions, structure is substantially identical, the structure of Partner 2 can refer to Fig. 2, what difference was that Partner 2 installs is target aircraft simulating piece 8, and the quality of target aircraft simulating piece 8, inertia, centroid position are with identical really, and on target aircraft simulating piece 8, installation is passive docking mechanism 4, Partner 2 does not have butt joint ring gravity balance device 5, and other structure is identical with drive end.Drive end 1 is connected with respective translation stop mechanism 22 by two synchronous braking connecting rods 6 with Partner 2, translation stop mechanism 22 has damping buffer unit, can absorb and consume the energy of simulated flight device during braking, can ensure like this to follow the trail of aircraft simulator 7 and target aircraft simulating piece 8 synchronous braking, the kinematic velocity made it each other goes to zero.
Fig. 3 is the constructional drawing of Space Docking Mechanism buffer test platform two DOF turn table 11 of the present invention.As shown in Figure 3, the sensor measuring roll angle moves chi 31 and is arranged on the wobble shaft 29 of two DOF turn table 11, the sensor scale 30 measuring roll angle is arranged on the permanent seat 32 of two DOF turn table 11, the sensor measuring pitch angle moves chi 34 and is arranged on the pitch axis 35 of two DOF turn table 11, and the sensor scale 33 measuring pitch angle is arranged on the permanent seat 32 of two DOF turn table 11.
As shown in Figure 2, six-dimension force sensor 36 is arranged on and follows the trail of between aircraft simulator 7 and active mating mechanism 3, for measuring the application force produced in two aircraft simulator docking operations in process of the test.Butt joint ring gravity balance device 5 is arranged on the permanent seat 32 of two DOF turn table 11 by truss.As shown in Figure 2, the effect of gravity balance device 5 is the gravity of the butt joint ring 27 overcoming active mating mechanism 3, balancing device 25 can export constant pulling force by steel rope 26, the direction of pulling force is contrary with the gravity size equidirectional of butt joint ring 27 all the time, steel rope 26 is connected with butt joint ring 27 by kicking strap 28, kicking strap 28 can be followed butt joint ring 27 and be moved, and the subsidiary load produced is very little.
Further working process of the present invention is described below.
Space Docking Mechanism buffer test platform of the present invention can simulation space two aircraft docking operation, can complete the docking buffering of Space Docking Mechanism, connect, separation test.
The test new field of technical activity:
Quality and the inertia of aircraft simulator 7 and target aircraft simulating piece 8 is followed the trail of respectively according to real " following the trail of aircraft and target aircraft " configuration, active mating mechanism 3 and passive docking mechanism 4 are installed, and by adjustment clump weight, the barycenter following the trail of aircraft simulator 7 and target aircraft simulating piece 8 being overlapped with respective two DOF turn table center of gyration, that is: tracking aircraft simulator 7 and target aircraft simulating piece 8 can neutral equilibriums in rolling and pitch axis direction.The roll angle and pitch angle of following the trail of aircraft simulator 7 and target aircraft simulating piece 8 are set to the angle needed for test, rolling and pitching docking initial angle is locked by cylinder action control corner catch gear 23, input compressed-air floats follows the trail of aircraft simulator 7 and target aircraft simulating piece 8, control drive end 1 and Partner 2 holding hand are grabbed 21 and are caught tracking aircraft simulator 7 and target aircraft simulating piece 8 respectively, drive servo longitudinal motor 14 and horizontal servomotor 18, respectively tracking aircraft simulator 7 and target aircraft simulating piece 8 are moved to preparation docking location.
The docking buffer test stage:
Control servo longitudinal motor 14 and the horizontal servomotor 18 of drive end 1 and Partner 2 simultaneously, tracking aircraft simulator 7 and target aircraft simulating piece 8 is driven to do accelerated movement according to projected path, longitudinal travel sensor 16 and the cross travel sensor 20 of drive end 1 and Partner 2 measure kinematic velocity, when kinematic velocity reaches the requirement of test, the holding hand of drive end 1 and Partner 2 grabs 21 releases, now, because pneumatically supported friction force is very little, follow the trail of aircraft simulator 7 and target aircraft simulating piece 8 under the effect of force of inertia according to the track uniform movement preset, until the butt joint ring 27 of active mating mechanism 3 comes in contact with passive docking mechanism 4, catch, buffering, after buffering course terminates, drive end 1 and Partner 2 brake simultaneously, follow the trail of aircraft simulator 7 and the synchronous stop motion of target aircraft simulating piece 8.In whole process of the test, drive end 1 and respective longitudinal travel sensor 16, cross travel sensor 20 and the joint sensors 24 of Partner 2 measure displacement and linear velocity in real time, sensor on two DOF turn table 11 measures corner and cireular frequency in real time, and the six-dimension force sensor 36 of drive end 1 and Partner 2 measures impact and the cushion effect of six direction respectively in real time.In whole process after holding hand grabs 21 releases, drive end 1 and the respective servo longitudinal motor 14 of Partner 2 and horizontal servomotor 18 are according to the feedback signal of joint sensors 24, control zigzag tread patterns planker 13 and laterally drive planker 17 to be in " following " state, that is: zigzag tread patterns planker 13 and horizontal planker 17 and the air supporting slide plate 9 of driving remain a segment distance, now, tracking aircraft simulator 7 and target aircraft simulating piece 8 are freely suspended on air supporting basic platform 10, what contact with it only has joint sensors 24, and the subsidiary load impact that joint sensors 24 produces is negligible.
The joint test stage:
After docking buffer test terminates, joint test can be carried out as required.Now, active mating mechanism 3 and passive docking mechanism 4 are in trapped state, and namely tracking aircraft simulator 7 and target aircraft simulating piece 8 have been connected together by the lock of catching of docking mechanism.To drive end 1 and respective air supporting slide plate 9 input compressed-air of Partner 2, discharge respective holding hand and grab 21, translation stop mechanism 22 discharges, corner catch gear 23 discharges, control zigzag tread patterns planker 13 and laterally drive planker 17 to be in " following " state, allow tracking aircraft simulator 7 and target aircraft simulating piece 8 freely be suspended on air supporting basic platform 10.Now, active mating mechanism 3 enters butt joint ring 27 and to further process, and certain distance that furthers enters the process of being rigidly connected, and the interface of active mating mechanism 3 and passive docking mechanism 4 realizes being rigidly connected by docking lock, and joint test terminates.In whole process of the test, drive end 1 and the respective longitudinal travel sensor 16 of Partner 2 and cross travel sensor 20 and joint sensors 24 measure displacement and speed in real time, sensor on two DOF turn table 11 measures corner and cireular frequency in real time, and the six-dimension force sensor 36 of drive end 1 and Partner 2 measures the six-dimensional force of connection procedure respectively in real time.
The separation test stage:
The interface that access phase terminates rear active and passive docking mechanism is rigidly connected, can carry out separation test as required.To drive end 1 and respective air supporting slide plate 9 input compressed-air of Partner 2, discharge respective holding hand and grab 21, translation stop mechanism 22 discharges, corner catch gear 23 discharges, control zigzag tread patterns planker 13 and laterally drive planker 17 to be in " following " state, allow tracking aircraft simulator 7 and target aircraft simulating piece 8 freely be suspended on air supporting basic platform 10.Now, docking mechanism enters separation process, docking lock unlocks, tracking flight simulation part device 7 is pushed open with target aircraft simulating piece 8, is separated by the spring push-rod of docking mechanism, after the distance that active and passive docking mechanism is separately certain, translation stop mechanism 22 brakes, and corner catch gear 23 is braked, and separation test terminates.In whole process, drive end 1 and the respective longitudinal travel sensor 16 of Partner 2 and cross travel sensor 20 and joint sensors 24 measure displacement and speed in real time, sensor on two DOF turn table 11 measures corner and cireular frequency in real time, and the six-dimension force sensor 36 of drive end 1 and Partner 2 measures the six-dimensional force of separation process respectively in real time.
Claims (9)
1. a Space Docking Mechanism buffer test platform, is characterized in that: this device comprises drive end [1] and Partner [2]; Drive end [1] and Partner [2] position are arranged in opposite directions, are connected with respective translation stop mechanism [22] by two synchronous braking connecting rods [6]; Drive end [1] is provided with and follows the trail of aircraft simulator [7], it is provided with active mating mechanism [3]; Partner [2] is provided with target aircraft simulating piece [8], it is provided with passive docking mechanism [4]; Drive end [1] is also provided with butt joint ring gravity balance device [5]; Butt joint ring gravity balance device [5] is arranged on the permanent seat [32] of two DOF turn table [11] by truss; The surface of described active mating mechanism [3] has butt joint ring [27]; Butt joint ring [27] is connected with steel rope [26] same balancing device [25] by kicking strap [28], and kicking strap [28] follows butt joint ring [27] motion; Described balancing device [25] is arranged on butt joint ring gravity balance device [5].
2. Space Docking Mechanism buffer test platform according to claim 1, is characterized in that: described drive end [1] or Partner [2] comprise further: follow the trail of between aircraft simulator [7] and active mating mechanism [3] and be provided with a six-dimension force sensor [36] between target aircraft simulating piece [8] and passive docking mechanism [4]; Follow the trail of aircraft simulator [7] and a corner catch gear [23] is installed between target aircraft simulating piece [8] and two DOF turn table [11]; The same cylinder of described corner catch gear [23] connects; Follow the trail of aircraft simulator [7] and the centroid position of target aircraft simulating piece [8] and the center of gyration of respective two DOF turn table [11] to coincide; Two DOF turn table [11] is arranged on an air supporting slide plate [9], and during operation, air supporting slide plate [9] is suspended on air supporting basic platform [10]; Air supporting slide plate [9] provides longitudinal, the transverse direction and yawing rotation of following the trail of aircraft simulator [7] and target aircraft simulating piece [8]; Tracking aircraft simulator [7] and target aircraft simulating piece [8] connect with servo longitudinal motor [14], are travelled longitudinally by its driving; Tracking aircraft simulator [7] and target aircraft simulating piece [8] also connect with horizontal servomotor [18], make cross motion by its driving; Servo longitudinal motor [14] is arranged on support [12], drives zigzag tread patterns planker [13] motion by zigzag tread patterns screw mandrel [15]; Horizontal servomotor [18] is arranged on zigzag tread patterns planker [13] and laterally drives planker [17] to move by laterally driving screw mandrel [19] to drive; Laterally drive and planker [17] is provided with holding hand grabs [21]; Holding hand is grabbed [21] clamps tracking aircraft simulator [7] and aircraft simulator [8] motion, and holding hand is grabbed [21], and same cylinder connects; The upper surface of support [12] is provided with the scale of a longitudinal travel sensor [16], parallel with zigzag tread patterns screw mandrel [15]; The read head of described longitudinal travel sensor [16] is arranged on zigzag tread patterns planker [13]; Surface on zigzag tread patterns planker [13] is provided with the scale of a cross travel sensor [20], drives screw mandrel [19] parallel with horizontal, and the read head of cross travel sensor [20] is arranged on and laterally drives on planker [17]; One end of air supporting slide plate [9] is connected with a joint sensors [24], and the other end of described joint sensors [24] drives planker [17] to be connected with horizontal.
3. Space Docking Mechanism buffer test platform according to claim 1, is characterized in that: described tracking aircraft simulator [7] and the quality of target aircraft simulating piece [8], inertia, centroid position and follow the trail of aircraft really and target aircraft identical.
4. Space Docking Mechanism buffer test platform according to claim 1, it is characterized in that: described two DOF turn table [11] is connected with aircraft simulator [7] and provides the degree of freedom of rolling and luffing, the center of gyration of the centroid position and two DOF turn table [11] of following the trail of aircraft simulator [7] coincides.
5. the Space Docking Mechanism buffer test platform according to claim 1 or 4, it is characterized in that: the wobble shaft [29] of described two DOF turn table [11] is provided with the dynamic chi [31] that is measured the sensor of roll angle, the scale [30] of the sensor of described measurement roll angle is arranged on the permanent seat [32] of two DOF turn table [11], the sensor measuring pitch angle moves chi [34] and is arranged on the pitch axis [35] of two DOF turn table [11], the sensor scale [33] measuring pitch angle is arranged on the permanent seat [32] of two DOF turn table [11].
6. Space Docking Mechanism buffer test platform according to claim 1, is characterized in that: described translation stop mechanism [22] has damping buffer unit.
7. Space Docking Mechanism buffer test platform according to claim 1, it is characterized in that: described tracking aircraft simulator [7] and target aircraft simulating piece [8] respectively have 5 freedom of motions, rolling and pitch freedom are locked by corner catch gear [23]; Longitudinally, transverse direction and yaw freedom are braked by translation stop mechanism [22].
8. Space Docking Mechanism buffer test platform according to claim 1, it is characterized in that: described drive end [1] and the respective servo longitudinal motor [14] of Partner [2] and horizontal servomotor [20] are according to the feedback signal of joint sensors [24], control zigzag tread patterns planker [13] and laterally drive planker [17] to be in " following " state, that is: zigzag tread patterns planker [13] and horizontal planker [17] and the air supporting slide plate [9] of driving remain a segment distance, now, tracking aircraft simulator [7] and target aircraft simulating piece [8] are freely suspended on air supporting basic platform [10], what contact with it only has joint sensors [24].
9. Space Docking Mechanism buffer test platform according to claim 1, it is characterized in that: described balancing device [25] exports constant pulling force by steel rope [26], the direction of pulling force all the time identical with the gravity size of butt joint ring [27], direction is contrary.
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