初期接触のみにより拘束可能な宇宙機ドッキング機構の設計に関する研究

抄録

Deep space exploration has been planned actively in these days. Improvement of randezvous and docking technologies are one of the issue. For docking system used in deep space, low power consumption, prevention of pushing away and wide range error tolerances of position and attitude betwween mother ship and daughter ship are needed. We focused on a Low-Contact-Force-Hand which cages a grapple fixture only with an initial contact by spring force and then fixes by driving a motor and proposed an application method for docking mechanism of it. In this paper, the authors discribe requirements definition, design of docking system and operation experiments of the mechanism.