| Citation: | TANG Zhidong, YUN Chao. Precise docking technology in full-automatic quick hitch coupling device[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(9): 1859-1872. doi: 10.13700/j.bh.1001-5965.2016.0688(in Chinese)
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When the full-automatic quick hitch coupling device (full-AQHCD) of the rescue robot wrist automatically locks tightly the attachment interface, i.e., the lower coupling parts (LCP), it must synchronously dock precisely with and switch on the hydraulic pipelines of the LCP automatically, for this reason, the precise docking theory (PDT) based on digital measurement and the PDT based on analog measurement are proposed for guiding the manufacturing at the product stage and the prototype stage respectively. The PDT at product stage is:the full-AQHCD is regarded as a passive target, and the LCP is regarded as an active target; the full-AQHCD is connected with the LCP through 4 coupling points; the position-orientation relationships between the passive target coordinate system (
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