Seven-degree-of-freedom space manipulator ground microgravity equivalent experiment device and experiment method

Abstract

The invention discloses a seven-degree-of-freedom space manipulator ground microgravity equivalent experiment device and method, and belongs to the field of space manipulator microgravity simulation ground experiments. The mechanical arm comprises a shoulder suspension supporting frame air foot device B, an elbow support air foot device C, a wrist suspension supporting frame air foot device D, a seven-degree-of-freedom mechanical arm A, a joint suspension shaft device E, an air cylinder device F and an air cylinder device G. The seven-degree-of-freedom mechanical arm comprises a first arm rodA-8, a second arm rod A-9, three rotating joints including a shoulder rotating joint A-5, a shoulder rotating joint A-6 and a shoulder rotating joint A-7, an elbow rotating joint A-4, a wrist rotatingjoint A-1, a wrist rotating joint A-2 and a wrist rotating joint A-3. The shoulder part and the wrist part are of a symmetrical structure. According to the invention, the influence of the seven-degree-of-freedom space manipulator on the attitudes of other satellite loads and equipment in the moving process can be simulated, and the experimental effect of microgravity equivalent simulation of thespace manipulator on the ground is significantly improved.

Description

technical field [0001] The invention relates to a ground microgravity equivalent experimental device and experimental method of a space manipulator, in particular to a space manipulator ground microgravity kinematics equivalent experimental device and an experimental method for performing a kinematics simulation experiment with seven degrees of freedom on the ground, belonging to The space manipulator microgravity simulates the field of ground experiments. Background technique [0002] In order to accurately study the dynamics and kinematics of the space manipulator, it is necessary to conduct an effective ground microgravity simulation experiment of the space manipulator to obtain the working state of the space manipulator in a weightless environment in space. [0003] At present, two kinds of devices are mainly used in the ground simulation experiment of the space manipulator: the hanging wire device and the planar air flotation device. The hanging wire device can realize...

AI Technical Summary

Problems solved by technology

[0005] In view of the low sensitivity of the existing space manipulator, less degrees of freedom, longer arm, and greater flexibility, and the ground microgravity simulation method of the existing space manipulator is greatly disturbed and can only achieve low-degree-of-freedom motion simulation and cannot Realize multi-degree-of-freedom coupling motion simulation and other issues, the technical problem to be solved by the

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