空间机器人微重力模拟实验系统研究综述

A Review on Simulated Micro-Gravity Experiment Systems of Space Robot

介绍了微重力模拟实验系统的特点,归纳了研究中的关键问题.总结了主要实现方法,包括:基于自由落体运动、基于抛物线飞行、气浮式、水浮式、吊丝配重式实验系统,以及硬件在环内(hardware in loop)的混合地面实验系统.讨论、比较了各种实验系统的应用背景及优缺点;在此基础上,提出了动力学模拟与运动学等效的两种思想,并建立了实验系统,以对路径规划、控制等关键算法进行评估和验证.

The characteristics of the simulated micro-gravity experiment system （SMGES） are introduced and the key problems are summarized. Six main realization methods for SMGES are introduced, including the experiment systems based on free falling objects, parabolic flight, air-bearing table, neutral buoyancy, suspension system and hardware-in-loop （HIL） simulator. The application scopes, advantages and disadvantages of each method are discussed and compared. Then we propose two realization concepts based on dynamic emulation and kinematic equivalence, and set up an experiment system to test and evaluate the key algorithms for path planning and control of space robot.