Gravity unloading device for multi-joint spatial mechanism

Abstract

The invention discloses a gravity unloading device for a multi-joint spatial mechanism. A mounting platform is arranged on a rack, and two-dimensional follow-up platforms are arranged on the platform;each follow-up platform can move in the two horizontal directions, a constant-tension control unit is arranged on the platform and connected with a force transmitting mechanism through flexible slings, and tension is controlled by collecting and releasing the slings; the force transmitting mechanism is connected with the multi-joint spatial mechanism needing to be experimented, and force transmitted by the slings is distributed to the spatial mechanism; in the experimenting process, the follow-up platforms trace movement of the spatial mechanism, so that the slings are in a vertical state allthe time; and the force transmitting mechanism make following movement at the same time, so that the extension lines of the slings correspond to the joint barycenters of components through the spatial mechanism. According to the gravity unloading device, the slings keep vertical through a horizontal position servo trace method, the tension of the slings is controlled to keep the tension of the slings, the number of the slings is small, the moving space is large, and the gravity unloading precision can be measured.

Description

technical field [0001] The invention belongs to the technical field of spacecraft ground tests, and in particular relates to a multi-joint space mechanism gravity unloading device, which uses a two-dimensional follow-up platform, a constant tension control unit, and a force transmission mechanism to meet the requirements of the multi-joint space mechanism ground microgravity environment test. Require. Background technique [0002] The ground microgravity environment test methods for domestic multi-joint space mechanisms are mainly divided into: water floatation method, balloon suspension method, air floatation table method, guide rail-pulley suspension method. Among them, the water flotation method uses the buoyancy of the liquid to achieve the purpose of unloading the gravity of the product; the balloon suspension method uses the buoyancy of the helium balloon to suspend the product to unload the gravity of the product; the air flotation method uses high-pressure gas betwee...

AI Technical Summary

Problems solved by technology

[0013] The existing water flotation method requires the space mechanism to be waterproof and sealed, which is difficult to achieve; the bearing capacity of the balloon suspension method is too small to meet the requirements; the air flotation table method limits the freedom of movement of the space mechanism and does not meet the requirements; the guide rail-pulley suspension The method is affected by the motion acceleration of the space mechanism, and the gravity unloading accuracy does not meet the requirements

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