A full-physics experimental system for space control of space robots

Abstract

This invention relates to a full-physics experimental system for space robot manipulation, comprising a target satellite simulation unit, a control satellite simulation unit, and a space robotic arm. The control satellite simulation unit has the space robotic arm located on one side. The system also includes a frame, a suspension and balancing gravity unit, and a support unit. The support unit is located inside the frame and has a smooth platform in its center. The lower ends of the target satellite simulation unit and the control satellite simulation unit are supported by corresponding air-bearing units, which are movably mounted on the smooth platform. The suspension and balancing gravity unit is movably mounted on the upper side of the frame, and a movable frame is located below it. A movable suspension mechanism is located below the movable frame, and the suspension mechanism has a liftable steel cable connected to the space robotic arm. This invention uses air-bearing and suspension technology to simulate the weightless environment of space, facilitating the verification of various innovative technologies of space robots.

Description

Technical Field

[0001] This invention relates to the field of aerospace ground simulation experiments, specifically a full-physics experimental system for space robot control. Background Technology

[0002] To test the maneuverability of space robots in the weightless environment of outer space, ground-based experimental research and verification are generally required. The equipment used for these experiments typically needs two satellite simulators, each with six degrees of freedom, to simultaneously simulate the motion and physical properties of both the satellite and the seven-degree-of-freedom space robotic arm. However, currently, there is no space weightlessness simulation device that can simultaneously provide full physical control for both the satellite and the space robotic arm. Existing devices simulating space weightlessness often employ the following methods: First, using drop wells or towers to simulate free fall, or using airplanes in parabolic flight to obtain a brief weightless environment. Second, using a weightless water tank, where the buoyancy of water counteracts gravity. However, the first method can only simulate weightlessness for a short time, generally no more than 30 seconds. The second method requires the construction of a large water tank, and the underwater environment poses significant limitations to the experiment, such as the satellite not being waterproof and the inconvenience for experimental personnel. Summary of the Invention

[0003] The purpose of this invention is to provide a full-physics test system for space robot control, which uses air buoyancy and suspension technology to simulate the weightless environment of space, making it easier to verify various innovative technologies of space robots.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] A full-physics experimental system for space robot manipulation includes a target satellite simulation unit, a control satellite simulation unit, and a space robotic arm. The space robotic arm is located on one side of the control satellite simulation unit and includes a frame, a suspension and balancing gravity unit, and a support unit. The support unit is located inside the frame and has a smooth platform in its middle. The lower ends of the target satellite simulation unit and the control satellite simulation unit are supported by corresponding air-bearing units, which are movably mounted on the smooth platform. The suspension and balancing gravity unit is movably mounted on the upper side of the frame and has a movable frame on its lower side. The movable frame has a movable hanging mechanism on its lower side, and the hanging mechanism has a liftable steel cable connected to the space robotic arm.

[0006] The suspension mechanism includes a suspension moving seat, a winch, an electric cylinder, a fixed pulley, a movable pulley, and a wire rope. The upper end of the suspension moving seat is slidably connected to the moving frame. The winch, electric cylinder, fixed pulley, and movable pulley are all located in the suspension moving seat, with the fixed pulley fixed inside. The movable pulley is driven to move vertically by the electric cylinder. One end of the wire rope passes around the fixed pulley and the movable pulley in sequence and is wound around the winch. The other end extends out of the suspension moving seat and is connected to the spatial robotic arm.

[0007] The suspended balance gravity unit is provided with a crossbeam, the upper side of the movable frame is slidably connected to the crossbeam, the crossbeam is provided with a movable frame drive rack, the upper side of the movable frame is provided with a movable frame drive motor, and the output shaft of the movable frame drive motor is provided with a movable frame gear that meshes with the movable frame drive rack.

[0008] The crossbeam has crossbeam moving seats at both ends, which are slidably connected to the side beams on the corresponding sides of the frame. The side beams of the frame are provided with crossbeam moving racks. The crossbeam moving seats are provided with crossbeam drive motors, and the output shaft of the crossbeam drive motors is provided with crossbeam drive gears that mesh with the crossbeam moving racks.

[0009] The air-bearing unit has a drive wheel on its lower side that rolls along the smooth platform. The air-bearing unit is equipped with a laser rangefinder. The support unit has raised plates around its perimeter, and a reflector is provided on the inner side of the raised plates. The signal emitted by the laser rangefinder is reflected back to the system sensor by the reflector.

[0010] The lower side of the support unit is provided with an adjustable support device for adjusting the level.

[0011] The adjustable support device includes a base, a screw, a locking nut, and a top block, wherein the lower end of the screw is threaded to the upper end of the base and locked by the locking nut, and the upper end of the screw is provided with a top block.

[0012] The air flotation unit is equipped with an air flotation component, and an air film is formed between the air flotation component and the smooth platform.

[0013] The air flotation assembly includes a base plate, a top plate, an air foot screw, and an air foot spring. The air foot screw is located between the base plate and the top plate, and the air foot spring is sleeved on the air foot screw. The bottom of the base plate is provided with an air hole, and compressed air is introduced into the upper side of the base plate.

[0014] The air flotation unit includes an air flotation base and a drive wheel, air flotation components, and a brake suction cup located on the lower side of the air flotation base.

[0015] The advantages and positive effects of this invention are as follows:

[0016] 1. This invention utilizes the steel wire rope of the suspension mechanism and the space robotic arm to balance the weight of the space robotic arm, and at the same time utilizes the air film formed between the air buoyancy component in the air buoyancy unit and the smooth platform of the support unit to balance the weight of the satellite simulator, thereby simulating the weightless environment of space and facilitating the verification of various technological innovations of the space robot.

[0017] 2. The crossbeam, moving frame, and hanging moving seat in the suspension balance gravity unit of the present invention can realize the free movement of the wire rope, which can follow the movement of the space robot arm. Furthermore, the winch and electric cylinder in the hanging mechanism control the extension and retraction of the wire rope, which can ensure that the tension of the wire rope can accurately balance the gravity of the space robot arm.

[0018] 3. The air flotation unit of the present invention is equipped with a drive wheel and a brake suction cup, which facilitates the movement and fixed-point braking of the satellite simulation unit.

[0019] 4. The smooth platform 202 of the support unit of the present invention needs to be level in order to realize the air buoyancy of the satellite simulation unit. Therefore, the present invention provides an adjustable support device on the lower side of the support unit 2 to ensure its levelness and meet the experimental requirements. Attached Figure Description

[0020] Figure 1 This is a three-dimensional schematic diagram of the present invention.

[0021] Figure 2 This is the front view of the present invention.

[0022] Figure 3 for Figure 1 A schematic diagram of the suspended balance gravity unit structure in the diagram.

[0023] Figure 4 for Figure 3 A schematic diagram of the suspension mechanism structure.

[0024] Figure 5 for Figure 4 Side view of the suspension mechanism in the middle.

[0025] Figure 6 for Figure 1 A schematic diagram of the supporting unit structure.

[0026] Figure 7 for Figure 6 A schematic diagram of the adjustable support device in the diagram.

[0027] Figure 8 for Figure 1 A schematic diagram of the satellite control simulation unit structure in the diagram.

[0028] Figure 9 for Figure 8 A schematic diagram of the air flotation unit structure in the diagram.

[0029] Figure 10 for Figure 9 A schematic diagram of the air flotation component structure.

[0030] Figure 11 for Figure 2 A schematic diagram of the space robotic arm structure in the image.

[0031] Figure 12 for Figure 1 A schematic diagram of the target satellite simulation unit structure.

[0032] Among them, 1 is the suspension balance gravity unit, 101 is the suspension mechanism, 1011 is the suspension moving seat, 1012 is the winch, 1013 is the electric cylinder, 1014 is the fixed pulley, 1015 is the movable pulley, 1016 is the wire rope, 1017 is the suspension drive motor, 102 is the moving frame, 1021 is the moving frame drive motor, 1022 is the gear, 1023 is the moving frame slider, 1024 is the upper mounting plate, 1025 is the lower mounting plate, 1026 is the control box, 103 is the crossbeam, 104 is the crossbeam moving seat, 2 is the support unit, 201 is the adjustable support device, 2011 is the base, 2012 is... Locking nut, 2013 screw, 2014 top block, 202 smooth platform, 203 reflector, 3 space robotic arm, 4 target satellite simulation unit, 401 second support frame, 5 control satellite simulation unit, 501 first support frame, 502 robotic arm support frame, 6 frame body, 7 air buoyancy unit, 701 support plate, 702 air buoyancy base, 703 laser rangefinder sensor, 704 air buoyancy assembly, 7041 top plate, 7042 air-supported screw, 7043 air-supported spring, 7044 base plate, 705 buffer spring, 706 drive wheel, 707 brake suction cup. Detailed Implementation

[0033] The invention will now be described in further detail with reference to the accompanying drawings.

[0034] like Figures 1-12 As shown, the present invention includes a frame 6, a suspension and balance gravity unit 1, a support unit 2, a target satellite simulation unit 4, a control satellite simulation unit 5, and a space robotic arm 3, wherein the support unit 2 is located inside the frame 6, and as shown... Figure 6 As shown, the support unit 2 has a smooth platform 202 in the middle and reflectors 203 around it, as... Figure 8 and Figure 12 As shown, the lower ends of the target satellite simulation unit 4 and the control satellite simulation unit 5 are respectively supported by corresponding air-bearing units 7, and the air-bearing units 7 are movably mounted on the smooth platform 202, as shown. Figure 2 As shown, a space robotic arm 3 is provided on one side of the satellite control simulation unit 5, and the suspension and balancing gravity unit 1 is movably mounted on the upper side of the frame 6, and as... Figures 3-4 As shown, a movable frame 102 is provided on the lower side of the suspended balance gravity unit 1, and a movable hanging mechanism 101 is provided on the lower side of the movable frame 102. The hanging mechanism 101 is provided with a liftable steel wire rope 1016 connected to the space robotic arm 3.

[0035] When the present invention is in operation, the control satellite simulation unit 5 on the smooth platform 202 in the middle of the support unit 2 simulates a stable target in a space weightless environment, while the target satellite simulation unit 4 simulates an unstable target in a space weightless environment. The control satellite simulation unit 5 uses the space robotic arm 3 to control the target satellite simulation unit 4, thereby completing the space mission. The suspension balance gravity unit 1 and the air buoyancy unit 7 realize the simulation of the space microgravity environment of the control satellite simulation unit 5, the target satellite simulation unit 4 and the space robotic arm 3.

[0036] like Figure 3 As shown, the suspended balance gravity unit 1 is provided with a crossbeam 103, and the two ends of the crossbeam 103 are provided with crossbeam moving seats 104, which are slidably connected to the side beams of the corresponding sides of the frame 6. In this embodiment, the crossbeam moving seat 104 is provided with a crossbeam drive motor, and the output shaft of the crossbeam drive motor is provided with a crossbeam drive gear. The side beams of the frame 6 are provided with a crossbeam moving slide rail and a crossbeam moving rack, and the lower side of the crossbeam moving seat 104 is provided with a crossbeam moving slider that cooperates with the crossbeam moving slide rail. The crossbeam drive gear meshes with the crossbeam moving rack. The crossbeam drive motor transmits torque to drive the crossbeam 103 to move through the crossbeam moving gear and the crossbeam moving rack.

[0037] The lower side of the crossbeam 103 is provided with a sliding rail for the movable frame and a drive rack for the movable frame, such as Figure 4 As shown, the upper side of the movable frame 102 is provided with a movable frame drive motor 1021 and a movable frame slider 1023. The movable frame slider 1023 is suspended and cooperates with the movable frame slide rail on the corresponding side to realize the sliding connection between the movable frame 102 and the crossbeam 102. The output shaft of the movable frame drive motor 1021 is provided with a movable frame drive gear that cooperates with the movable frame drive rack. The movable frame drive motor 1021 transmits torque through the movable frame drive gear and the movable frame drive rack to drive the movable frame 102 to move.

[0038] like Figure 4 As shown, the movable frame 102 has an upper mounting plate 1024 on its upper side, and the movable frame drive motor 1021 and the movable frame slider 1023 are both mounted on the upper mounting plate 1024. The movable frame 102 has a lower mounting plate 1025 on its lower side, and the hanging mechanism 101 is movably mounted on the lower mounting plate 1025. Figure 5 As shown, a control box 1026 is provided on one side of the mobile frame 102 to house the control system module.

[0039] like Figure 4 As shown, the suspension mechanism 101 includes a suspension moving seat 1011, a winch 1012, an electric cylinder 1013, a fixed pulley 1014, a movable pulley 1015, and a wire rope 1016. The upper end of the suspension moving seat 1011 is slidably connected to the lower mounting plate 1025 of the moving frame 102. The winch 1012, electric cylinder 1013, fixed pulley 1014, and movable pulley 1015 are all located in the suspension moving seat 1011. The fixed pulley 1014 is fixed inside the suspension moving seat 1011, and the movable pulley 1015 is driven to move vertically by the electric cylinder 1013. One end of the wire rope 1016 passes around the fixed pulley 1014 and the movable pulley 1015 in sequence and then winds around the winch 1012. The other end extends out of the suspension moving seat 1011 and is connected to the spatial robotic arm 3. This invention achieves precise balance of the steel wire rope 1016 with respect to the gravity of the space robotic arm 3 by adjusting the rotation of the winch 1012 and the extension and retraction of the electric cylinder 1013. The fixed pulley 1014 is mounted on a force sensor, which can obtain the tension of the steel wire rope 1016 in real time. The system controls the extension and retraction of the steel wire rope 1016 based on the force value measured by the force sensor, thereby improving the accuracy of the gravity balance of the space robotic arm 3. The force sensor is a commercially available product.

[0040] like Figures 4-5 As shown, the lower mounting plate 1025 of the movable frame 102 is provided with a hanging sliding rail and a hanging drive rack on its lower side. The upper end of the hanging moving seat 1011 is provided with a hanging slider that cooperates with the corresponding hanging sliding rail to achieve a sliding connection between the hanging moving seat 1011 and the lower mounting plate 1025. A hanging drive motor 1017 is provided on one side of the hanging moving seat 1011, and a hanging drive gear is provided on the output shaft of the hanging drive motor 1017 that cooperates with the hanging drive rack. This invention enables the movement of the crossbeam 103, the movable frame 102, and the hanging moving seat 1011, as well as the up-and-down movement of the wire rope 1016, to move with the space robotic arm 3. Through the designed motion control strategy, the tension of the wire rope 1016 is always equal to the weight of the space robotic arm 3, that is, the weight of the space robotic arm 3 is balanced.

[0041] like Figure 6 As shown, in this embodiment, the smooth platform 202 is made of seamless granite, such as... Figures 8-9 and Figure 12As shown, the air-bearing unit 7 is equipped with drive wheels 706 that can roll along the smooth platform 202, thereby enabling the target satellite simulation unit 4 and the control satellite simulation unit 5 to move on the smooth platform 202. The air-bearing unit 7 is equipped with a laser rangefinder 703. The support unit 2 has raised plates around its perimeter, and a reflector 203 is located on the inner side of each raised plate. The signal emitted by the laser rangefinder 703 is reflected back to the system sensor via the reflector 203, thereby determining the position information of each satellite simulation unit. The laser rangefinder 703 is a commercially available product.

[0042] like Figures 6-7 As shown, the lower side of the support unit 2 is provided with an adjustable support device 201 to ensure that the smooth platform 202 is level. In this embodiment, the adjustable support device 201 includes a base 2011, a screw 2013, a locking nut 2012 and a top block 2014. The lower end of the screw 2013 is threadedly connected to the upper end of the base 2011 and locked by the locking nut 2012. The upper end of the screw 2013 is provided with a top block 2014 to support the support unit 2. The screw 2013 can be rotated to raise and lower to achieve leveling of the support unit 2.

[0043] like Figure 9 As shown, the air flotation unit 7 includes an air flotation base 702, a drive wheel 706, an air flotation component 704, and a brake suction cup 707. The upper side of the air flotation base 702 is provided with a support plate 701 connected to the corresponding satellite simulation unit. Laser rangefinders 703 are provided around the air flotation base 702. The lower side of the air flotation base 702 is provided with the drive wheel 706, the air flotation component 704, and the brake suction cup 707. The upper end of the wheel frame of the drive wheel 706 is connected to the upper beam of the air flotation base 702 through a connecting shaft, and a buffer spring 705 is provided on the connecting shaft. The drive wheel 706 is provided with a motor to drive its rotation, thereby realizing the movement of the corresponding simulation unit. The brake suction cup is connected to a vacuum device provided in the air flotation base 702 to achieve adsorption and positioning of the smooth platform 202.

[0044] like Figure 10As shown, the air-float assembly 704 includes a base plate 7044, a top plate 7041, an air-feed screw 7042, and an air-feed spring 7043. The air-feed screw 7042 is located between the base plate 7044 and the top plate 7041. The air-feed spring 7043 is sleeved on the air-feed screw 7042, with its two ends abutting against the base plate 7044 and the top plate 7041, respectively. The bottom of the base plate 7044 has several tiny air holes, and an air pipe is provided on the upper side of the base plate 7044 for introducing compressed air. Compressed air is ejected from the tiny air holes on the lower side of the base plate 7044. Utilizing the reaction force of the gas, an air gap of approximately 0.03 mm is formed between the air-float assembly 704 and the smooth platform 202, enabling the satellite simulation unit to float. At this time, the drive wheel 706 detaches from the smooth platform 202. The air-float base 702 is equipped with a compressed air generator, which is a technology known in the art and a commercially available product.

[0045] like Figure 11 As shown, the space robotic arm 3 in this embodiment is a 7-DOF robotic arm, which includes structures such as shoulder joint, elbow joint, and wrist joint. The space robotic arm 3 is a technology known in the art.

[0046] like Figure 8 As shown, the satellite control simulation unit 5 is provided with a first support frame 501 mounted on the corresponding air buoyancy unit 7, and a robotic arm support frame 502 is provided on the outer side of the housing of the satellite control simulation unit 5 for mounting the space robotic arm 3. The satellite control simulation unit 5 is a technology known in the art.

[0047] like Figure 12 As shown, the target satellite simulation unit 4 is equipped with a second support 401 mounted on the corresponding air-bearing unit 7. The outer side of the second support 401 is provided with a cover plate to make its shape the same as that of a real satellite. The target satellite simulation unit 4 is a technology known in the art, and it can realize six degrees of freedom of motion.

[0048] The working principle of this invention is as follows:

[0049] When the system is running, the suspension gravity balancing unit 1 balances the gravity of the space robotic arm 3, and the air buoyancy unit 7, in conjunction with the smooth platform 202 of the support unit 2, balances the gravity of the control satellite simulation unit 5 and the target satellite simulation unit 4, thereby achieving the purpose of simulating a microgravity environment. In the aforementioned microgravity environment, the control satellite simulation unit 5 operates the target satellite simulation unit 4 through the 7-DOF space robotic arm 3, including experiments such as cooperative target capture, repositioning and docking, dual-arm coordinated fine operation, single / dual-arm capture and braking of unstable targets, and nozzle capture of stable targets. This verifies the kinematic and dynamic characteristics of the control satellite simulation unit 5, the target satellite simulation unit 4, and the space robotic arm 3, as well as the control algorithm and relative navigation and image recognition algorithm of the 7-DOF space robotic arm 3.

[0050] Specifically as follows:

[0051] Step 1: Perform kinematic and dynamic analysis on the multibody system consisting of target satellite simulation unit 5, control satellite simulation unit 4 and space robotic arm 3 to obtain the motion trajectory of space robotic arm 3 when performing tasks such as cooperative target capture, repositioning and docking, dual-arm coordinated precision operation, single / dual-arm capture and braking of unstable targets, and nozzle capture of stable targets.

[0052] Step 2: Using the motion trajectory of the space robotic arm 3 obtained in Step 1, obtain the three-dimensional motion trajectory of the suspension mechanism 101 connected to the space robotic arm 3, as well as the motion trajectories of the control satellite simulation unit 4 and the target satellite simulation unit 5 on the support unit 2.

[0053] Step 3: Based on the trajectory obtained in Step 2, design motion strategies for the crossbeam 103, the moving frame 102, and the hanging moving seat 1011 in the suspension gravity balance unit 1, so that the hanging mechanism 101 moves in coordination with the space robotic arm 3 without interfering with each other, and at the same time control the target satellite simulation unit 5 to make it complete six-degree-of-freedom motion in space.

[0054] Step 4: By adjusting the control strategies of the crossbeam 103, the suspension mechanism 101, and the following strategy of the target satellite simulation unit 5, interference avoidance optimization between objects is achieved.

[0055] In the above process, based on the kinematic and dynamic analysis of the space robotic arm 3, the present invention achieves precise balance of the weight of the space robotic arm 3 by controlling the winch 1012 and electric cylinder 1013 in the suspension mechanism 101 through the wire rope 1016. The air film formed between the compressed air filled by the air buoyancy component 704 and the smooth platform 202 of the support unit 2 balances the weight of the corresponding satellite simulation unit. The smooth platform 202 must be kept horizontal to achieve air buoyancy. Once the simulation unit is air-buoyed, the smooth platform 202 will tilt due to the loss of friction between the simulation unit and the smooth platform 202, causing the simulation unit to move to one side and failing to achieve the experimental purpose. Therefore, the present invention sets an adjustable support device 201 on the lower side of the support unit 2 to ensure its horizontality and meet the experimental requirements.

Claims

1. A space-based full-physics experimental system for manipulating space robots, comprising a target satellite simulation unit, a control satellite simulation unit, and a space robotic arm, wherein the control satellite simulation unit is provided with the space robotic arm on one side, characterized in that: The system includes a frame (6), a suspension balance gravity unit (1), and a support unit (2). The support unit (2) is located inside the frame (6), and a smooth platform (202) is provided in the middle of the support unit (2). The lower ends of the target satellite simulation unit (4) and the lower ends of the control satellite simulation unit (5) are supported by corresponding air-bearing units (7), and the air-bearing units (7) are movably located on the smooth platform (202). The suspension balance gravity unit (1) is movably located on the upper side of the frame (6), and a movable frame (102) is provided on the lower side of the suspension balance gravity unit (1). A movable hanging mechanism (101) is provided on the lower side of the movable frame (102), and the hanging mechanism (101) is provided with a liftable steel wire rope (1016) connected to the space robotic arm (3). The suspension mechanism (101) includes a suspension movable seat (1011), a winch (1012), an electric cylinder (1013), a fixed pulley (1014), a movable pulley (1015), and a wire rope (1016). The upper end of the suspension movable seat (1011) is slidably connected to the movable frame (102). The winch (1012), electric cylinder (1013), fixed pulley (1014), and movable pulley (1015) are all located on the suspension. In the movable seat (1011), the fixed pulley (1014) is fixed in the suspended movable seat (1011), and the movable pulley (1015) is driven to move vertically by the electric cylinder (1013). One end of the wire rope (1016) passes around the fixed pulley (1014) and the movable pulley (1015) in sequence and is wound around the winch (1012). The other end extends out of the suspended movable seat (1011) and is connected to the space robotic arm (3). The suspended balance gravity unit (1) is provided with a crossbeam (103), the upper side of the movable frame (102) is slidably connected to the crossbeam (103), the crossbeam (103) is provided with a movable frame drive rack, the upper side of the movable frame (102) is provided with a movable frame drive motor (1021), and the output shaft of the movable frame drive motor (1021) is provided with a movable frame gear that meshes with the movable frame drive rack; The crossbeam (103) has crossbeam moving seats (104) at both ends, which are slidably connected to the side beams of the corresponding side of the frame (6). The side beams of the frame (6) are provided with crossbeam moving racks. The crossbeam moving seats (104) are provided with crossbeam drive motors, and the output shaft of the crossbeam drive motor is provided with crossbeam drive gears that mesh with the crossbeam moving racks. The three-dimensional motion trajectory of the suspension mechanism (101) connected to the space robotic arm (3) and the motion trajectory of the control satellite simulation unit (4) and the target satellite simulation unit (5) on the support unit (2) are obtained based on the motion trajectory of the space robotic arm (3); the crossbeam (103) in the suspension gravity balance unit (1), the moving frame (102) and the suspension moving seat (1011) in the suspension mechanism (101) are designed based on the three-dimensional motion trajectory of the suspension mechanism (101) connected to the space robotic arm (3) and the motion trajectory of the control satellite simulation unit (4) and the target satellite simulation unit (5) on the support unit (2).

2. The space manipulation full-physics test system for space robots according to claim 1, characterized in that: The air-float unit (7) has a drive wheel (706) on its lower side that rolls along the smooth platform (202). The air-float unit (7) is equipped with a laser rangefinder (703). The support unit (2) has raised plates around its perimeter, and a reflector (203) is provided on the inner side of the raised plates. The signal emitted by the laser rangefinder (703) is reflected back to the system sensor by the reflector (203).

3. The space manipulation full-physics test system for space robots according to claim 1, characterized in that: The support unit (2) is provided with an adjustable support device (201) for adjusting the level on its lower side.

4. The space manipulation full-physics test system for space robots according to claim 3, characterized in that: The adjustable support device (201) includes a base (2011), a screw (2013), a locking nut (2012), and a top block (2014). The lower end of the screw (2013) is threaded to the upper end of the base (2011) and locked by the locking nut (2012). The upper end of the screw (2013) is provided with a top block (2014).

5. The space manipulation full-physics test system for space robots according to claim 1, characterized in that: The air flotation unit (7) is provided with an air flotation component (704), and an air film is formed between the air flotation component (704) and the smooth platform (202).

6. The space manipulation full-physics test system for space robots according to claim 5, characterized in that: The air flotation assembly (704) includes a base plate (7044), a top plate (7041), an air foot screw (7042), and an air foot spring (7043). The air foot screw (7042) is located between the base plate (7044) and the top plate (7041), and the air foot spring (7043) is sleeved on the air foot screw (7042). The bottom of the base plate (7044) is provided with an air hole, and compressed air is introduced into the upper side of the base plate (7044).

7. The space manipulation full-physics test system for space robots according to claim 1, characterized in that: The air flotation unit (7) includes an air flotation base (702) and a drive wheel (706), an air flotation assembly (704) and a brake suction cup (707) located on the lower side of the air flotation base (702).

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