Abstract In response to the demand for rapid and stable docking and separation of unmanned ground vehicles with other vehicles when performing specific tasks, a single-drive chuck-type docking mechanism based on the Archimedean spiral is proposed. This mechanism enables docking and separation between vehicles, features multi-directional docking capability, utilizes single-driven operation, and allows for certain initial angular or displacement error in docking. Firstly, the spherical-spherical joint mechanism is designed based on the spherical joint, and the chuck spiral is designed based on the Archimedean spiral. The design method of the chuck-block mechanism composed of the opening-closing mechanism and the rigid-flexible block mechanism and the docking rod is obtained, and then the modular single-drive docking mechanism is obtained. Secondly, by analyzing the opening-closing mechanism and the rigid-flexible block mechanism, the docking and separation motion characteristics are obtained, which includes six stages of docking-preparation, docking fine-tuning, flexible-connection-I, rigid-connection, flexible-connection-II, and separation of the two vehicles to complete the docking and separation of the two vehicles. Finally, simulation was carried out in Adams to verify the docking process, and a principle prototype is manufactured to verify the docking and separation feasibility of the docking mechanism.
Sun et al. (Tue,) studied this question.
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