A Method of Rendezvous and Docking Based on the 6-DOF Parallel Mechanism in Subsea Environment

Abstract:

According to the condition of the docking of the oceanic space with low visibility,strong sea current and large declining attitude, the rendezvous and docking device based on the 6-DOF parallel mechanism is proposed. A method of the rendezvous and docking operation is discussed between subsea vehicle and deep-sea space station. The mathematic model of the docking device is established after analyzing the structural characteristics and operational principle of subsea vehicle docking device, the momentum of the docking device. In order to satisfy the need of the subsea docking, a moving path is brought forward for the docking device. The impacting analysis of the docking device is conducted under its docking trait, which shows that the docking device could achieve the rendezvous and docking in case of the serious condition in subsea environment.

• Periodical: Applied Mechanics and Materials (Volume 574)
• Pages: 651-657
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.574.651
• Online since: July 2014
• Authors: Shu Ping Hou*, Xiao Yan Wang, Jian Nan Zhang
• Keywords: Docking for Oceanic Space, Docking Impaction Analyzing, Momentum Analyzing, Rendezvous, Subsea Docking Device

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