Proposed mechanism enhances docking stability and integrates multi-directional capabilities for unmanned vehicles, suggesting improved performance.
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.
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Sun et al. (2026) studied this question.
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