Microgravity simulation method for space manipulator suspension

Abstract

The invention provides a microgravity simulation method for the suspension of a space manipulator, which belongs to the field of simulation experiments. Adjust the target point to find the exact position; S3, control the movement of the mechanical swing arm, and connect the suspension component to the suspension point; S4, control the omnidirectional mobile platform to follow the six-degree-of-freedom stage; S5, control the deployment of the space robot arm; S6, the space machine After the arm completes the test, control the movement to the original folded state; S7, after the six-degree-of-freedom platform moves to the parking position, turn off the air source to support and fix the six-degree-of-freedom platform; S8, the test of disassembling the suspension components ends. The invention eliminates the effect of self-gravity on the attitude of the spacecraft when the mechanical arm is unfolded, and meanwhile retains more freedom of movement and movement range of the mechanical arm, and can adapt to the unfolding range of the space mechanical arm in a wider range.

Description

technical field [0001] The invention belongs to the field of simulation experiments, and relates to a microgravity simulation method for the suspension of a space manipulator. Background technique [0002] Using ground equipment to simulate the special working environment of the spacecraft to conduct tests to verify the structural performance of the spacecraft on the ground is a commonly used method in the aerospace field, and it is also a strategy that takes into account 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 harsh space environments to complete various tasks such as target capture, fault maintenance, garbage cleaning, and star catalog sampling. Task. The space manipulators developed based on the space micro-low gravity environment and application background mostly have the characteristics o...

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-floating 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

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