Provided is an unrestricted suspension type initiative
gravity compensation system. The
system is composed of an unrestricted connecting module, a vertical constant tension suspension module, a horizontal follow-up module and a control module. The unrestricted connecting module comprises a connecting sleeve, an outer mounting frame, a force applying piece and a
low friction bearing, and enables a
spacecraft to carry out approximate unrestricted rotation round a
center of mass. The vertical constant tension suspension module comprises a
torque motor, a
pinion and rack, a suspension hanging spring and a tension sensor, and enable the tensile force borne by the
spacecraft in movement is equal to gravity. The horizontal follow-up module comprises a
servo motor, a guide rail, a synchronous belt and a tilt angle sensor, and the suspension module is made to carry out horizontal movement along with the
spacecraft to guarantee that the hanging spring is in a vertical state. The control module comprises an acquisition card, a driver and a
motion control card. The design method of the unrestricted suspension type initiative
gravity compensation system can compensate the gravity of the spacecraft in a ground test environment, further is used for reproducing the real movement of the spacecraft in the interspace microgravity environment, has the advantages of being stable in running, through in compensation and the like, and can provide the approximate unrestricted microgravity environment for movements with
six degrees of freedom.