用于科普展品的太空机械臂模拟系统开发

Development of a Simulated System for the Space Robotic Manipulator Used as a Scientific Exhibit

开发了一种太空机械臂模拟系统,它形象地模拟了宇航员通过太空机械臂维修太空舱上故障点的整个过程.根据太空机械臂的机构特点和寻找故障点方式,分别设计了一种3自由度的机械系统和控制系统.经过试验,整个系统运行平稳且安全,模拟效果良好.

In order to meet the public demand for the astronautic knowledge,a simulated system for the space robotic manipulator is developed, which vividly simulates the entire process that astronauts manipulate the space robotic manipulator to repair fault spots on the space capsule. According to characteristics of the space robotic manipulator and its way to find fault spots, a 3 DOF mechanical system and a control system are designed respectively. After testing,the entire system operates stably and safely, its simulated result is satisfying.