A low gravity simulation device and method

Abstract

The invention discloses a low-gravity simulation device and method. The device mainly includes the following components: multiple sets of "constant tension" control systems, used to realize the tension control of the suspension rope according to instructions within the vertical working stroke range; three degrees of freedom The mobile and rotating integrated platform and the control subsystem are connected with multiple sets of "constant tension" control systems, and multiple sets of "constant tension" control systems are respectively connected to simulated low-gravity objects through hanging ropes. At the same time, multiple sets of constant tension control systems The pose parameters are jointly coupled as the control information of the three-degree-of-freedom mobile rotating platform; the main hanging structure is set on the servo integrated platform; the multi-hanging point combination control system calculates each hanging point in real time according to the position and attitude of the simulated low-gravity object The current hanging force value ensures that the hanging force meets the set gravity requirements, and the hanging force simulates the center of mass of a low-gravity object. The invention can truly reproduce the stress situation of the moving parts and joints among the moving mechanisms under the condition of low gravity, and can adapt to the real-time change of the center of mass.

Description

technical field [0001] The invention relates to a low gravity simulation device and method. Background technique [0002] At present, there are various devices for simulating low-gravity environments, such as devices with landing boxes, aircraft, waters, balloons, and lifting machinery, which apply vertical load-reducing forces to the center of gravity of the test object. Simulators are based on various fixed or geographically mobile systems, the most typical of which are overhead cranes and transport machinery. Existing low-gravity simulators are generally simulators with a certain trajectory along a single direction. A single-point automatic tracking system has been developed for use in special fields, but it cannot meet the low-gravity real-time simulation requirements for each component of multi-component mechanism products. [0003] Low-gravity simulation is required during the ground test of the lunar rover. Usually, the walking system of the lunar rover is a multi-co...

AI Technical Summary

Problems solved by technology

During the test, only the load reduction control of the lunar rover box (single point) was carried out. Due to the complexity of the simulated lunar surface terrain and the disordered change of the center of mass of the moving parts, it was impossible to accurately simulate the wheel pressure of the six wheels during the lunar surface walking process of the lunar rover. , unable to adjust in real time following changes in the internal center of mass of the mechanism components

That is, it is impossible to obtain accurate performance parameters of the lunar rover on the lunar surface

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