关键词: 对接机构, 变构航天器, 相对姿态, 姿态调节, 微纳卫星

Abstract: In order to combine micro-nano satellites into ultra-large variable structure spacecraft，the design of relative attitude repeatedly adjustable docking mechanism with high precision is the key problem.Based on Stewart mechanism，a kind of high-precision relative attitude repeatedly adjustable docking mechanism was designed.Aiming at the problem of relative attitude high-precision adjustment after docking locking，the transfer mechanism of attitude adjustment error of docking mechanism was analyzed，and the transfer model of attitude adjustment error was established.The theoretical attitude adjustment accuracy was obtained through simulation calculation.By forming a closed-loop control system with the laser sensor and Stewart mechanism，the error compensation algorithm of the pose control system was designed，the high-precision adjustment of the relative pose was realized.The dynamic model was established in the scenario of two-module relative attitude adjustment，and the driving force variation law of each telescopic rod motor was analyzed according to the motion trajectory of attitude adjustment.Simulation analysis and real object attitude adjustment test show that the weight of the docking mechanism is only 2.43kg，the radius of the envelope is only 10cm，the accuracy of the three-axis attitude adjustment can reach ±0.02°，and the maximum attitude adjustment load of the docking mechanism is 65N，which can be applied to the precise allostery of micro-nano assembly spacecraft.

Key words: docking mechanism, allosteric spacecraft, relative attitude, attitude adjustment, micro-nano satellite