Three-dimensional motion gravity compensation system for space manipulator

Abstract

The invention relates to the technical field of aerospace engineering ground test equipment, in particular to a three-dimensional motion gravity compensation system for a space manipulator. The system comprises a compensated mechanical arm, a follow-up mechanism, a support and a hanging spring suspension system, the compensated mechanical arm is arranged at the bottom of the support, and the follow-up mechanism is arranged at the top of the support and connected with the compensated mechanical arm through the hanging spring suspension system; the compensated mechanical arm and the follow-up mechanism are the same in structure, and three-dimensional motion gravity compensation of the compensated mechanical arm is achieved by synchronously controlling motion of the compensated mechanical arm and the follow-up mechanism. Multi-axis and three-dimensional motion gravity compensation is carried out on the compensated mechanical arm, and the purpose of simulating the space microgravity working state on the ground is achieved.

Description

technical field [0001] The invention relates to the technical field of aerospace engineering ground testing equipment, in particular to a three-dimensional motion gravity compensation system of a space manipulator. Background technique [0002] With the continuous development of space exploration activities, space manipulators have become more and more effective tools for completing space operation tasks. They can replace astronauts to complete extravehicular operations, greatly reduce the risk of astronauts leaving the cabin, and can also assist astronauts in orbit. Complete the in-cabin experiment and reduce the labor intensity of the astronauts. The actual working environment of the space manipulator is a microgravity environment. When verifying its motion performance on the ground, it is necessary to construct a microgravity simulation environment for it to verify and evaluate its positioning accuracy, motion speed, operating force, and torque under real working conditio...

AI Technical Summary

Problems solved by technology

At present, there is no ready-made gravity compensation system available. It is necessary to design a gravity compensation system that can be applied to the three-dimensional movement of the manipulator to assist it in completing multiple test tasks such as ground motion performance testing, fatigue life testing, function testing, and performance index testing.

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