Research on Automatic Docking Method of Cabin Segments for Tandem-parallel Mechanism

The method of automatic segment docking using a series-parallel mechanism is studied. Firstly, the position deviation of the mobile and fixed segments is converted into the position deviation of the initial and target positions of the tandem-parallel mechanism by using the two-dimensional projection geometry method of the measurement system; then, a multi-objective attitude trajectory optimization model is set up, and the B-spline trajectory parameters are obtained by using the improved Salp Swarm Algorithm (SSA) and fuzzy evaluation method when the values of the objective functions are the average optimal values so that the attitude trajectory and the motion trajectories of each joint of the attitude platform for achieving the docking of segments can be planned out. The B-spline trajectory parameters are obtained when the value of each objective function is the average optimum, and the motion trajectories of each joint are planned out to realize the docking of the module; finally, the test result is that the module can reach the target position with “one measurement and one adjustment”, which fully proves that the method has high effectiveness and practicability in guiding the series-parallel mechanism to realize the docking of the module.