Device and method for simulating space mechanical arm to capture ground three-dimensional space microgravity of target satellite

Abstract

The invention provides a device and method for simulating a space mechanical arm to capture ground three-dimensional space microgravity of a target satellite, and relates to a device and method of the ground three-dimensional space microgravity. The problem that the movement of a floating satellite base in the three-dimensional space and operation process of the space mechanical arm is not considered is solved. The device comprises two industrial mechanical arms, the space mechanical arm, a hand eye camera, a capturing paw, a capturing connector, a service satellite body simulator, a target satellite body simulator and six-dimensional force and torque sensors; the method comprises the steps that target satellite movement is simulated; the position and attitude of the target satellite and movement information of joints of the space mechanical arm are determined; movement information of a service satellite body simulator base and the industrial mechanism arms is calculated; the capturing connector captures the target satellite body simulator in a capturing paw area; a movement state of the service satellite body simulator is achieved by simulating a real target satellite movement sate. The device and method for simulating the space mechanical arm to capture the ground three-dimensional space microgravity of the target satellite is applied to the field of space mechanical arm ground three-dimensional space microgravity simulation.

Description

technical field [0001] The invention relates to a device and a method for ground three-dimensional space microgravity, in particular to a device and method for simulating the ground three-dimensional space microgravity in which a space manipulator captures a target satellite. Background technique [0002] Since the space manipulator operates in space approaching and capturing target satellites, its satellite base is usually uncontrolled and in a free-floating state. In space, the space robot system is in a microgravity environment, and the influence of the earth's gravity is usually not considered. Therefore, the space robot system satisfies the law of conservation of momentum. When the space robotic arm moves, its floating satellite base usually produces corresponding disturbances. At present, the test of the space manipulator is usually carried out on a two-dimensional air-floating platform, which usually does not consider the movement of the base of the floating satellit...

AI Technical Summary

Problems solved by technology

[0003] The present invention aims to solve the problem that the existing technology does not consider the movement of the floating satellite base during the three-dimensional space movement and op

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