1、IW Ob95534 O002082 Ob8 Special Copyright Notice I992 by the American Institute of Aeronautics and Astronautics. All rights reserved. COPYRIGHT American Institute of Aeronautics and AstronauticsLicensed by Information Handling ServicesAIAA G-05b 92 Ob95534 0001488 212 AIAA G-056-1992 Guide for the Se
2、rviceable Spacecraft GraspingIBert h i nglDocki ng Interfaces COPYRIGHT American Institute of Aeronautics and AstronauticsLicensed by Information Handling ServicesAIAA G-056- 1992 Guide for the Serviceable Spacecraft Grasping / Berthing / Docking Interfaces Sponsor American Institute of Aeronautics
3、and Astronautics Abstract This guideline provides technical information for the design of three mechanical interfaces required for spacecraft servicing - grcisping by telerobotic or visual manipulation, berthing of payloads or spacecraft, and the clocking of spacecraft. Achieving a degree of commona
4、lity individually and collectively for this general class or interface will simplify the servicing of a variety of ORUs, Attached Payloads, Platforms, Space Station Freedom, Satellites, and other passive and mobile Spacecraft. The invaluable experience of past missions from Gemini to the Shuttle Orb
5、iter provides the basis for the information contained in this document. COPYRIGHT American Institute of Aeronautics and AstronauticsLicensed by Information Handling ServicesAIAA 6-056 92 0695534 OL490 970 AMA G-056-1992 Published by American Institute of Aeronautics and Astronautics 370 LEnfant Prom
6、enade, SW, Washington, DC 20024 Copyright O 1993 American Institute of Aeronautics and Astronautics All rights reserved No part of this publication may be reproduced in any form, in an electronic retrieval system or otherwise, without prior written permission of the publisher. Printed in the United
7、States of America COPYRIGHT American Institute of Aeronautics and AstronauticsLicensed by Information Handling ServicesForeword 1.0 1.1 1.2 1.3 1.4 2.0 3.0 3.1 3.2 3.3 3.4 3.5 3.6 4.0 4.1 4.2 4.3 4.4 4.5 4.6 5 .O Appendix . A.l A.l.l A . 1.2 A . 1.3 A . 1.4 A.1.5 A . 1.6 A . 1.7 A.1.8 A . 1.9 A.l.10
8、 A.l.ll A.2 A.2.1 A.2.2 A.2.3 AMA G-056-1992 CONTENTS v Introduction . 1 Purpose . 1 Application . 1 Intended Use . 1 Applicable Documents 1 Definitions . 1 General Requirements . 2 Standard Units of Measure . 2 Coordinate System 2 Design Considerations 2 Interface Considerations., 2 Attachment Sequ
9、ence . 2 Application of Requirements . 2 Detailed Requirements . 3 Impact Docking Tolerances 4 Non-impact Grasping / Berthing Tolerances (End Effectors) 4 Alignment Tolerances After Rigidking . 5 Latching. Unlatching. Separation Tolerances 5 Mechanical Design 3 Berthing Contact Conditions . 5 Refere
10、nces 5 Examples of Spacecraft Docking. Berthing. and Grasping System Designs 9 Examples of Spacecraft Docking Systems 10 Gemini . Agena Docking System . 10 Apollo Command Module - Lunar Module Docking System 10 Apollo Probe and Drogue Assembly Details., . 11 Apollo-Soyuz Test Project (ASTP) Universa
11、l Docking System . 12 Salyut / Soyuz Docking System . 12 Sulyut / Soyuz Docking Mechanism Details . 13 Salyut / Soyuz Docking Mechanism in Crew Transfer Configuration 13 Soviet Universal Androgynous Peripheral Docking Assembly (APDA) . 14 Cone and Ring Docking System 14 Dornier Systems AOCS Controll
12、ed Closure Docking / Berthing Mechanism Concept . 15 Dornier Systems Docking Mechanism Controlled Closure Concept 15 Examples of Space Vehicle Berthing Systems 16 Three Point (Ring) Berthing System 16 Flight Support System (FSS) Berthing AIAA G-056-1992 docking, on the other hand, involves an active
13、 spacecraft which physically flies into a docking port on a passive spacecraft such that the two are joined in a rigid dock. By defin- ing the active parameters which all such sys- tems should meet, a high level of cross pro- gram interoperability and interchangeability will result and lead to the d
14、evelopment of standardized and effective operational inter- face designs. This Guide prescribes the alignment and dis- placement tolerances governing the spacecraft hardware interface designs and includes latch activation and unlatching force limits, tip-off dynamics, impact velocities, structural i
15、n- tegrity, and sizing limitations. Robotic and small item interfaces are not defined. The key people involved in this effort were: A. B. Thompson, Martin Marietta Robert E. Davis, NASA-GSFC (retired) Robert P. Radtke, Tracor Applied Sciences Arnold Greenmiin, Space SystemsLoral Barney Gorin, Fairch
16、ild Space Co. Ellis Ragan, Barrios Technology Mike Rodgers, Barrios Technology Lee Varnado, NASA-MSFC Donald B. Wechsler, Mitre Corp. James Beaman, Lockheed MSC Joe Cardin, Moog, Inc. The AIAA Serviceable Spacecraft Committee on Standards (James Moore, NSAS Johnson Space Center and Wallace McCoy, US
17、 Space Command, Co-chairmen) approved this Guide in June 1993. The Standards Techni- cal Council (A. H. Ghovanlou, Chairman) approved the document in July 1993. V COPYRIGHT American Institute of Aeronautics and AstronauticsLicensed by Information Handling ServicesAIAA G-056 92 = 0695534 0003474 5Lb
18、= ATAA G-056-1992 vi COPYRIGHT American Institute of Aeronautics and AstronauticsLicensed by Information Handling Services1. O INTRODUCTION As space vehicles and structures become larger and more complex, the development of systems to assist humans in assembling, op- erating, maintaining, and perfor
19、ming space rescue or retrieval of these vehicles and structures becomes increasingly important. With the diversity of international spacecraft, both manned and unmanned, planned to be in orbit in the not too distant future, a set of guidelines for berthing and docking subsys- tems is mandatory if se
20、rvicing, resupply and retrieval is to become practical on an interna- tional level. Successful interaction between these space systems, and with ground and/or space-based humans, requires standardized and effective operational interface designs, particularly with respect to space grasp- ing/berthing
21、/docking interface mechanisms. This document addresses the design guidelines for such mechanisms. 1.1 Purpose The purpose of this document is to provide design guidelines for mechanical berthing / docking interface between space structures, elements, and serviceable or servicer vehicles. 1.2 Applica
22、tion This document encompasses the mechanical aspects of interfaces for space systems that require physical contact to perform space as- sembly, resupply, crew exchange, mainte- nance and retrieval functions, and related space operutions. 1.3 Intended Use This guide should be used by spacecraft con-
23、 tractors, spacecraft project managers, inter- face designers and system engineers, and space operations personnel. It is recom- mended that the interface design set forth in this guide be used by all agencies, domestic and international, when specifying and devel- oping spacecraft grasping, berthin
24、g and docking systems. AIAA G-056-1992 1.4 Applicable Documents The following documents form a part of this Guide to the extent specified herein. DoD-Std-1476a Metric System Application in New Design Fed-Std-376n Preferred Metric Units for General Use by the Federal Government NASA-Std-3000 Man-Syst
25、ems Integration Standards NASA-SP-30550 Robotic System Integration Standard NHB 1700.7, Rev. B Safety Policy and Re- quirements for Payloads Using the STS AIAA Proposed Guide to Design for On- Orbit Spacecraft Servicimg (G-042-1991) 2. O DEFINITIONS Berth - The process of using a grapple in- terface
26、 to bring together an orbital element and a spacecraft. The positioning of a pay- load on a repair and maintenance support fixture in an orbital maintenance facility or the joining of two orbital elements such as space station modules. Capture - To restrict or confine the motion of an object. Dock -
27、 To join the attachment mechanisms of an active spacecraft with a passive or co- operative payload or another spacecraft by actively commanding the translational and/or rotational maneuvers necessary to bring them together and latch, usually associated with impact docking. Grasp - To close or mate a
28、n end effector on/to an object with a force sufficient to eliminate relative motion between the object and the end effector. Grapple - To close the snares on an end ef- fector, such as the cable-tension Orbiter Re- mote Manipulator Systems (RMS) end effec- tor, around a compatible (grapple) fixture
29、or object, and then to retract the snares to draw tight and rigidize the payload or spacecraft to COPYRIGHT American Institute of Aeronautics and AstronauticsLicensed by Information Handling Services- - AIAA G-056 92 Ob95534 0001496 399 AMA G-056-1992 which the grap attached. le fixture or object is
30、 Orbital Servicer - The space system, ele- ment, vehicle, designed to berth or dock with a payload or spacecraft to repair, replenish expendables, or otherwise provide a mainte- nance service on orbit. 3.0 GENERAL REQUIREMENTS 3.1 Standard Units of Measure Units designed to the requirements of this
31、guideline shall incorporate the International System of units (SI) as the basic measure- ment system. These units shall be as defined in DoD-Std-1476a. For measurement values not covered in DoD-Std-l476a, the document Fed-Std-376a may be used as a supplement. Linear dimensions shall be in whole mill
32、imeters. 3.2 Coordinate System An X, Y, Z three axis orthogonal coordinate system is defined for the grasping, berthing, docking interface, with the -X coordinate de- noting travel in the direction of the docking or grasping engagement interface. The Y and Z axes are perpendicular to the X axis with
33、 the 2 axis vertical toward a designated up index point around the X axis. The Y axis is per- pendicular to the Z axis and is oriented lateral to the designated up index of the Z axis. 3.3 Design Considerations 1) The design and mechanical interfaces should be kept as simple as possible and de- sign
34、ed for high reliability, and 2) the design should be as durable as practical within the weight and space constraints. 3.4 Interface Considerations Considerations of docking or berthing one vehicle to another consists of measuring the relative states of the vehicles, maneuvering to change the states
35、to desired values and fi- nally, securing one vehicle to another. Errors and uncertainties complicate these steps. The sensors used to measure the relative states have inherent uncertainties on the measured values. Thus, as maneuvers are performed to complete the rendezvous and docking/ berthing man
36、euvers, residual uncertainties re- sult in uncertainties in the vehicle states at contact. The interface hardware must com- pensate for the worst case uncertainties to as- sure a successful docking or berthing. Some of the interface mechanism design parameters that are influenced by the conditions o
37、f the vehicles and their mechanisms at docking or capture are illustrated in Figure 1. Other conditions which must be considered in the interface design are: latch engagement toler- ance, latch activation (latching and unlatch- ing) force limits, latch engagement over-cen- ter force limits, latch mo
38、unting structure in- tegrity requirements, impact momentum tol- erance, tip-off dynamics limits, emergency disconnect provisions for minimum impact on vehicle, thermal distortions of docking mechanism, fluid and electrical interfaces alignment, electrostatic differences at contact, sizing limitation
39、s, mass (lightest design for required strength), and reliability. 3.5 Attachment Sequence Initial Condition Capture/Centering - With the active system and the passive system in sufficient proximity to initiate mating, one systems attachment mecha- nism shall accommodate the other sys- tems mechanism
40、. The travel path of the active system may be guided into coinci- dence with the required path to complete mating either by physical contact or en- velopment of the smaller system by the lager. Joining - The systems attachment mech- anisms return to their nominal condition and complete a rigidized l
41、ock. UnlocWSepamtion - Above sequence is reversed and the active system shall separate with minimum tip-off dynamics. 3.6 Application of Requirements Detailed requirements described in this guide- line are to be applied as appropriate to all 2 COPYRIGHT American Institute of Aeronautics and Astronau
42、ticsLicensed by Information Handling Services - - AIAA G-056 92 W Ob95534 0003497 225 W AlAA G-056-1992 Lateral Offset Velocitv Drives Impact Loads, Roll Misalianment Energy Attenuation and Dr. R. H. Bentall, ESA-ESTEC, Noordwijk, The Netherlands. Rendezvous and Proximity Operations Workshop, NASA J
43、SC, Houston, TX, February 19-22, 1985, The Payload DeploymendRetrieval Performance of the Space Shuttle Remote Manipulator System, P. K. Nguyen, et. al, Spar Aerospace Limited, Toronto, Ontario, Canada. 7 COPYRIGHT American Institute of Aeronautics and AstronauticsLicensed by Information Handling Se
44、rvicesAIAA G-05b 92 m Ob95534 OOOl1502 412 m AIAA G-056-1992 34. 35. 36. 37. 38. 39. 40. 8 Rendezvous and Proximity Operations Workshop, NASA JSC, Houston, TX, February 19-22, 1985, Berthing Mechanisms, Gene C. Burns, McDonnell Douglas Astronautics Company, Huntington Beach, CA. Rendezvous and Proxi
45、mity Operations Workshop, NASA JSC, Houston, TX, February 19-22, 1985, Satellite Con- figurations - Docking and Grasping Provisions, R. T. Schappell, Martin Marietta, Denver, CO. SABCA, Brussels, Belgium, Columbus Phase B1 - Service Vehicle, Specification for the Connecting Subassembly, Edition O, O
46、ctober 21, 1985. NASA Headquarters Grant NAGW- 659, Soviet Space Stations as Analogs by B. J.Bluth, Principal Investigator, and Martha Helppie, Research Associate, August 1986. Martin Marietta Internal Paper, September 11, 1987, General Purpose Docking System, G. Kyrias, Martin Marietta, Denver, CO.
47、 Martin Marietta Space Operations Simu- lation (SOS) Laboratory Internal Docu- ment, Satellite Servicing System Supervised Autonomous Rendezvous and Docking Simulation Report, John A. Cuseo, August 25, 1989. Scientific Commercial Association (NPO) Energyia, Moscow, Technical Bulletin, 1989, Universa
48、l Androgy- nous Peripheral Docking Assembly (APDA), NPO Energyia, 141070 41. 42. 43. 44. 45. 46. Kaliningrad City, Moscow Oblast, Lenin Street, House #4. Kawasaki Heavy Industries Ltd., Space Systems Department, Aerospace Group, Technical Presentation KHIS Activities in Japanese Space Programs, Augu
49、st 1990. NASDA, Drawings of JEM-EF Equipment Exchange Unit (EEU) Concept, March 15, 1991 NASA SSP 30000 Section 3: Section 3, Rev. K, June 1991, Space Station Program Definition and Requirements: Space Station System Requirements, Sect. 3.2.2.2.1.6, Berthing Contact Conditions. Magnetic End Effector Preliminary Design Requirements Spec Sheet and Brochure, submitted by Ed Carter, Lockheed Engin. and Science Co., Houston, TX, 1991. Space Operations, Applications, and Research Symposium, Houston, TX, July 9- 1 1, 199 1, Automated Resupply of C
