Experimental Research on Preliminary Docking in Replenishment at Sea Using Flexible Manipulator

Abstract:

In order to fulfill the requirements of docking successfully, a scheme of step-by-step docking is proposed, the implementation methods to realize initial connection and accurate docking are given, the preliminary docking mechanism of a double flexible manipulator is designed, a testing system for RP flexible manipulator is established, corresponding experimental prototype is developed, and the mechanical model for relevant flexible regulation is made up to do experimental study. The result shows that the established RP flexible system can well satisfy the requirements of initial connection in the step-by-step docking, thus proves the feasibility of the proposed scheme.

• Periodical: Applied Mechanics and Materials (Volumes 556-562)
• Pages: 1183-1190
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.556-562.1183
• Online since: May 2014
• Authors: Ying Yu*, Gui Zhen Liu, Bao Lin Yin, Bo Yu, Jan Jun Wu
• Keywords: Experimental Study, Preliminary Replenishment, Replenishment at Sea, RP Flexible Manipulator, Step-by-Step Docking

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