漂浮基空间机械臂的三维微重力环境模拟方法探讨

Discussion of Three-dimensional Microgravity Simulation Methods for Free-floating Space Manipulators

首先针对空间机械臂微重力模拟方法的国际现状,分别从运动轨迹、模拟精度、建造周期及经济性等方面进行了详细综述。考虑到空间机械臂的三维运动特征,对三维空间微重力模拟这一难点问题进行了论述,进而提出了剪式三维气浮微重力环境模拟装置的方案,该方案具有较大伸缩比,结构紧凑,通过利用气浮法的优点解决了水平随动问题,集成力反馈伺服控制系统解决了竖直方向随动问题,该方案为做复杂运动的空间机械臂提供了灵活的微重力模拟环境。

The paper discuss particularly international actuality from movement track, simulation precision, construct periods and economy character aspects to space manipulators. Three-dimensional microgravity simulation is emphasized in view of three-dimensional movement character. Scissor style gas suspension microgravity simulation equipment is put forward. The scheme integrates advantage of gas suspension, has flex big ratio and structure close, level has been solved by the use of the advantages of air flotation with dy- namic, integrated force feedback servo control system can solve the problem of vertical direction with the move. The novel system can simulate the spatial microgravity environment with complex movement for space manipulators.