Kinematic Analysis of a Multi-Degree-of-Freedom Docking Device for Aerial Docking

Given the critical role of aerial docking technology in the future of aviation and the inherent uncertainty of the docking target’s pose in aerial docking missions, there is a pressing need for a novel multi-degree-of-freedom docking device. This device is capable of achieving multi-freedom, precise position, and attitude adjustments during the docking process. It can compensate for the position and attitude deviation between the docking device and the target under complex external disturbances, ensuring stable and reliable docking. Ultimately, it facilitates the transfer, circulation, and supply of materials and ensures the successful execution of the aerial docking task. The limited space within transport aircraft cabins necessitates a compact mechanism envelope size and a substantial range for position and attitude adjustments. This paper analyzes the kinematic process of the multi-degree-of-freedom docking device and derives the forward kinematics equations of the docking device using the Denavit–Hartenberg method. The accuracy of the obtained results is verified through numerical calculation using MATLAB and kinematic simulation using ADAMS. Based on the forward kinematics equations, the reachable workspace of the docking device is solved. Finally, the reliability of the kinematic of the multi-degree-of-freedom docking device can be verified, the correctness of the forward kinematics equations can be confirmed, and the workspace meets the requirements of the aerial docking task.