空间机械臂地面仿真与测试系统设计

Design of Ground Simulation and Testing System for Space Robot

根据某型号搭载的七自由度空间机械臂的测试任务,设计一套空间机械臂地面仿真与测试系统.该系统可以完成两方面的功能:一是利用空间机械臂模拟器进行半物理仿真,对空间机械臂控制线路盒的电接口和控制软件功能进行测试;二是采用吊丝卸载装置对空间机械臂真实产品进行全物理试验,对在轨任务进行地面演示验证.利用所设计的测试系统已经完成了某型号空间机械臂的地面测试与演示验证任务,目前该型号已经发射成功,空间机械臂已经成功完成在轨试验.所设计的空间机械臂地面仿真与测试系统具有较好的通用性和扩展性,可以应用于其他空间机械臂产品的地面测试.

A ground simulation and testing system is designed for the testing task of a 7-DOFs space robot on a satellite. The designed system has two functions. First, it can be used for half-physical simulations with the space robot simulator, in which way the electronic interfaces of the controller and the functions of the control software can be tested. Besides, it can also be used for full-physical tests to verify the on-orbit tasks, and a hanging equipment is utilized to de-load the gravity of the space robot. Using the proposed testing system, the ground testing and verification tasks of the space robot are finished. By now, the sat- ellite is launched, and the space robot finishes its on-orbit experiments successfully. The proposed ground simulation and testing system can also be applied for testing other space robots on ground.