Space mechanical arm suspension microgravity simulation method

Abstract

The invention provides a space mechanical arm suspension microgravity simulation method, and belongs to the field of simulation experiments, wherein the method comprises the steps: S1, installing a space machine, and controlling a six-degree-of-freedom table to move to a test starting position on an air floatation platform; S2, adjusting the alignment position according to the target point of thesix-degree-of-freedom table; S3, controlling a mechanical swing arm to move, and connecting a suspension assembly with a suspension point; S4, controlling an omnidirectional mobile platform to move along with the six-degree-of-freedom platform; S5, controlling a space mechanical arm to be unfolded; S6, after the space mechanical arm completes the test, controlling the space mechanical arm to moveto an original folded state; S7, after the six-degree-of-freedom table moves to the parking position, closing an air source, and supporting and fixing the six-degree-of-freedom table; and S8, ending the test of disassembling a suspension assembly. The action of the gravity of the mechanical arm on the posture of a spacecraft when the mechanical arm is unfolded is eliminated, meanwhile, more motionfreedom degrees and motion ranges of the mechanical arm are reserved, and the unfolding range of the space mechanical arm is adapted to in a large range.

Description

technical field [0001] The invention belongs to the field of simulation experiments and relates to a microgravity simulation method for space manipulator suspension. Background technique [0002] It is a commonly used method in the field of aerospace to simulate and simulate the special working environment of the spacecraft to carry out test experiments to verify the structural performance of the spacecraft on the ground, and it is also a strategy that takes into account both economy and timeliness in the development process. [0003] In recent years, space manipulators or space robots have taken on more and more important tasks in space exploration and development, and can replace astronauts in the harsh space environment to complete various tasks such as target capture, fault maintenance, garbage cleaning, and star surface sampling. Task. The space manipulators developed based on the low-gravity environment and application background in space mostly have the characteristi...

AI Technical Summary

Problems solved by technology

During the test, the degree of freedom and range of the manipulator's movement are greatly limited

Moreover, since there is no need to consider the influence of the force and moment of the mechanical arm on the fixed installation, gravity unloading is mostly carried out for the main arm of the mechanical arm. The overall use of double or single lifting points, although the overall gravity of the mechanical There is a large deviation in the torque at

[0005] When carrying out tests such as target acquisition with a robotic arm of a spacecraft, the robotic arm is installed on an air bearing platform or a parallel mechanism with six degrees of freedom, and the torque deviation at the root of the robotic arm will have a great impact on the attitude of the spacecraft. , making the capture simulation test fail

Sometimes the movement of the robotic arm is restricted for more realistic simulations to verify the state of the spacecraft in experiments such as capture

Images