空间机械臂三维全物理地面试验方法研究

Study on Full-physical Ground Experiment Test Method for Space Manipulator 3D Movement

空间机械臂为七自由度冗余机械臂,在轨操作任务和对象多样,空间运动轨迹复杂,性能受重力影响明显;地面模拟零重力环境、支持空间机械臂三维运动一直是地面试验的难点。提出了一种空间机械臂零重力模拟试验方法,利用气足悬浮+悬吊的方法实现了空间机械臂三维空间、七自由度运动的全物理地面模拟,地面试验验证了此零重力模拟方法的有效性。

The Space Manipulator has a redundant 7-DOF and undertakes complex space trajectories.It can perform various on orbit operation tasks and deal with different objects.Its performance is sensitive to gravity,however,it is quite difficult to simulate the micro-gravity on the ground and to support the 3D movement of the space manipulator during ground test.In this paper,a micro-gravity simulation method was proposed for the space manipulator which realized the ground full-physical experiment simulation of three-dimensional and 7-DOF motion of space manipulator using the air feet suspension and overhanging.The ground test of space manipulator demonstrated the validity of the micro-gravity simulation method.