A Passive Connection Mechanism for On-orbit Assembly of Large-Scale Antenna Structure

This paper presents a connection mechanism for operating arms to assemble antenna structure as two mating parts that attached to two antenna modules respectively. The geometry of the mechanism is described and optimized to include pose error according to kinematic model of the docking process. A simple approach is proposed that enables the mechanism to be pushed together with a tiny force. And unexpected disconnection is prevented by self-locking during normal operation of the antenna. With simulation, we demonstrate the high misalignment tolerance of this mechanism and the reliability of the connection.