A spacecraft docking system using a cable-driven parallel robot structure

摘要

The present invention relates to a spaceship docking system using a cable driving parallel robot structure and, more specifically, relates to the spaceship docking system using a cable driving parallel robot structure to rapidly and accurately perform spaceship docking. The spaceship docking system which allows a rendezvous ship to be docked on a target ship comprises: a plurality of support bases which are installed at a docking portion of the target ship, extend toward the outside of the docking portion of the target ship, and are provided with a guide roller at the end portion thereof; a driving unit which is installed in the target ship, and generates rotational power; a plurality of cables which are wound or unwound by the power of the driving unit, and are guided through the guide roller of each support base; an end effector which is connected to the plurality of cables guided through the guide rollers, provides various positions among the plurality of support bases in accordance with adjustment of cable length, and is coupled to the docking portion of the rendezvous ship.