Abstract: As the key equipment for spatial target acquisition, space docking device should not only solve the acquisition problem of spacecraft, but also buffer the collision energy, avoid hard collision and reduce the impact of docking. Aiming at the soft-docking problem of space capture, a spatially soft-docking bionic wrist for spatially soft capture is developed. The motion of bionic wrist is simulated by the three-dimensional rotation of gyro mechanism, and the buffer and unloading of space six-dimensional collision are realized by controllable damping vibration absorption. An integrated dynamic equation of spaceborne capture mechanism coupled with spatially soft-docking bionic wrist is established by Kane method. The collision numerical simulation is carried out in MATLAB to verify that the principle of buffering and unloading space six-dimensional collision of the spatially soft-docking bionic wrist, and the stiffness optimization design of torsion spring/linear spring is realized through 1000 numerical simulation experiments; Finally, the spatially six-dimensional collision simulation of the spaceborne capture mechanism coupled with spatially soft-docking bionic wrist is carried out in Adams, and the simulation results indicate that the proposed spatially soft-docking bionic wrist can buffer and unload spatially six-dimensional collision, which shows the effectiveness of the application of the spatially soft-docking bionic wrist in spatially soft capture.

Key words: spatially soft docking, bionic wrist, Kane method, stiffness optimization, damping vibration absorption