A microgravity simulation test system for fine operation of a space dexterous arm in a narrow area

Abstract

The micro-gravity simulation test system for fine operation of a space dexterous arm in a narrow area comprises a space dynamics target machine, a ground test system console, a motion simulator console, a wireless communication module, an optical darkroom, a distributed infrared measurement camera, a sunlight simulation device, a service star motion simulator, a target star motion simulator, a suspension type micro-gravity simulation system and a marble air floatation table; the light illumination condition and the micro-gravity condition in the space environment can be simulated simultaneously, and the actual operation environment of the space dexterous arm is simulated with high fidelity. The micro-gravity compensation scheme combining the air floatation system and the suspension mechanism can provide more accurate gravity compensation in more directions without being limited by the interference collision between the ropes and the mechanism. The rope winding and unwinding devices for horizontal and vertical motions are designed, and the contradiction between the high gravity compensation accuracy of the dexterous arm and the narrow space operation is considered, so that the dexterous arm end can be deeply operated in the narrow space of the sailboard slit.

Description

Technical Field

[0001] This invention relates to satellite test equipment and systems, specifically to a microgravity simulation test system for precise operation in a confined space using a space maneuvering arm. Background Technology

[0002] In recent years, utilizing space-based dexterous arms to perform delicate and precise maneuvers in confined environments has become an important tool in on-orbit servicing. Dexterous arms possess advantages such as good structural compliance, high flexibility, and lightweight design, making them suitable for performing tasks that traditional rigid arms cannot accomplish in unstructured environments. However, the gravity environment on Earth causes significant structural deformation in dexterous arms with low structural stiffness, severely impacting the arm's shape and end-effector positioning accuracy, thus hindering ground-based demonstration and verification. Furthermore, space-based dexterous arms require auxiliary end-effector visual servo control to improve their end-effector positioning capabilities; therefore, verifying the impact of complex on-orbit lighting environments on the measurement capabilities of the dexterous arm's end-effector camera is also of great significance.

[0003] For example, during a ground demonstration of a space-based manipulator cutting connecting bolts within a slit in the solar panel of a target satellite, the effects of gravity cause the manipulator to sag, and the drastic changes in lighting conditions as the manipulator moves from outside to inside the slit will both reduce the manipulator's shape accuracy and end-effector positioning accuracy. Therefore, the key to a high-fidelity ground-based test system for a space-based manipulator lies in the high-precision simulation of the microgravity and complex lighting environments in space. Summary of the Invention

[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a microgravity simulation test system for precise operation of a space dexterous arm in a narrow area, thus solving the problem of ground test verification of the operation of a space dexterous arm in a narrow and confined environment.

[0005] The technical solution of this invention is:

[0006] A microgravity simulation test system for precise operation in a confined space using a space-dexterous arm includes an optical darkroom, distributed infrared measurement cameras, a sunlight simulation device, a service star motion simulator, a target star motion simulator, a suspended microgravity simulation system, and a marble air-bearing platform.

[0007] The suspended microgravity simulation system and the marble air-floating platform are both placed in the optical dark chamber, while the service star motion simulator and the target star motion simulator are placed on the surface of the marble air-floating platform.

[0008] The service satellite motion simulator includes a service satellite air-floating base, a manipulator arm drive control box, a space manipulator arm body, and a manipulator arm end vision camera. The manipulator arm drive control box is connected to the service satellite air-floating base and is used to control the space manipulator arm body. The manipulator arm end vision camera is connected to the end of the space manipulator arm body.

[0009] The target star motion simulator includes a target star air-floating base, a folding sail, a sail base, and sail locking bolts. The sail base is connected to the target star air-floating base, and the sail locking bolts fix the folding sail 9 to the sail base.

[0010] The suspended microgravity simulation system is used to apply gravity compensation to the space manipulator arm, and the distributed infrared measurement camera and the sunlight simulation device are connected to the suspended microgravity simulation system.

[0011] A sunlight simulation device is used to simulate sunlight.

[0012] Distributed infrared measurement cameras acquire pose information from the motion simulators of the service satellite and the target satellite.

[0013] The suspended microgravity simulation system includes an outer frame, which is mounted above a marble air-floating platform.

[0014] The outer frame is equipped with a vertical motion rope deployment and retraction module and a horizontal motion rope deployment and retraction module. The ropes of the vertical motion rope deployment and retraction module are connected to the end of the space manipulator body and are used to drive the end of the space manipulator body to move vertically. The ropes of the horizontal motion rope deployment and retraction module are connected to the middle of the space manipulator body and are used to drive the middle of the space manipulator body to move horizontally, thereby applying gravity compensation to the space manipulator body.

[0015] It also includes a space dynamics target machine, a ground test system control console, a motion simulator control console, and a wireless communication module; the space dynamics target machine, the ground test system control console, and the motion simulator control console communicate bidirectionally via an Ethercat network; the space dynamics target machine sets the initial illumination information of the sunlight simulation device through the Ethercat bus and changes the illumination over time to simulate the space illumination environment during dexterous arm operation.

[0016] The space dynamics target machine calculates the path equation of the service star motion simulator based on the pose information of the service star motion simulator and the target star motion simulator, and sends the path equation of the service star motion simulator to the motion simulator console.

[0017] The motion simulator control console calculates the control quantity of the thruster on the service satellite motion simulator based on the path equation of the service satellite motion simulator, and then sends the control quantity of the thruster on the service satellite motion simulator to the service satellite motion simulator through the wireless communication module, controlling it to approach the target satellite motion simulator.

[0018] After the service satellite motion simulator reaches the vicinity of the target satellite motion simulator, the motion simulator console sends the trajectory planning information to the space dexterous robotic arm carried on the service satellite motion simulator via the wireless communication module. The relative pose information measured by the end vision camera of the space dexterous robotic arm is returned to the motion simulator console via the wireless communication module for the next trajectory planning, gradually guiding the end of the space dexterous arm to the vicinity of the folding sail carried by the target satellite motion simulator.

[0019] Distributed infrared measurement cameras collect the position information of marker points on the space dexterous manipulator body and return the marker point position information to the ground test system console to calculate the arm shape information and end pose information of the space dexterous manipulator body.

[0020] The suspended microgravity simulation system is connected to a six-dimensional force sensor at the suspension point of the space maneuvering arm.

[0021] The six-dimensional force sensor at the suspension point of the suspended microgravity simulation system collects gravity distribution information at the suspension point of the space manipulator and returns this information to the ground test system control console. The ground test system control console calculates the gravity compensation amount of the space manipulator body based on the arm shape information, end-effector pose information, and gravity distribution information at the suspension point, and converts it into the motor torque control amount of each rope deployment and retraction module of the suspended microgravity simulation system. Then, the motor control amount is sent to the vertical motion rope deployment and retraction module and / or the horizontal motion rope deployment and retraction module. The vertical motion rope deployment and retraction module and / or the horizontal motion rope deployment and retraction module apply the gravity compensation amount to the space manipulator through rope tension to counteract the deformation of the space manipulator caused by the ground gravity environment.

[0022] The outer frame is equipped with guide rails. The vertical motion rope retraction module 1 includes a crossbeam and a first rope connected to the crossbeam. The two ends of the crossbeam are slidably connected to the guide rails. The bottom end of the first rope is a second suspension point, which is connected to the end of the space dexterous arm body.

[0023] The horizontal motion rope retraction module includes two sliding parts that are slidably connected to a guide rail on one side, and a second rope. The two ends of the second rope are respectively connected to a sliding part, and a point on the second rope is a first suspension point, which is connected to the middle of the space dexterous arm body.

[0024] Furthermore, the wireless communication module, distributed infrared measurement camera, sunlight simulation device, service satellite motion simulator, target satellite motion simulator, suspended microgravity simulation system, and marble air-floating platform are all arranged in an optical darkroom to avoid interference from complex light sources. The infrared band emitted by the distributed infrared measurement camera is staggered from the receiving band of the vision camera at the end of the space-powered manipulator carried on the service satellite motion simulator, thus avoiding interference with the measurement of the relative pose of the end of the space-powered manipulator.

[0025] Furthermore, the vertical and horizontal motion rope retraction modules can control the tension at the rope ends by controlling the rope's retraction and extension. Six-dimensional force sensors mounted at the suspension points collect force information to compensate for gravity. These rope retraction and extension modules can also move on guide rails and crossbeams respectively, expanding the range of motion compensation. In addition, the top of the outer frame is equipped with distributed infrared measurement cameras and a sunlight simulation device.

[0026] Furthermore, the air-floating base can be suspended on the marble air-floating platform by air pressure control, eliminating frictional resistance in the three degrees of freedom within the air-floating platform plane. The dexterous arm drive control box contains a motor drive module for driving the bending motion of the spatial dexterous arm body. The vision camera at the end of the dexterous arm can measure the relative pose information with the target point, enabling the dexterous arm to move to the vicinity of the target point to perform the operation task.

[0027] In summary, this application includes at least the following beneficial technical effects:

[0028] (1) It can simultaneously simulate the lighting and microgravity conditions in the space environment, and simulate the actual working environment of the space dexterous arm with high fidelity.

[0029] (2) The microgravity compensation scheme that combines air flotation system and suspension mechanism can provide more accurate gravity compensation in more directions without being limited by interference and collision between ropes and mechanisms.

[0030] (3) Design a rope release and take-up device for horizontal and vertical movement. This takes into account the contradiction that the high gravity compensation accuracy of the dexterous arm requires more suspension ropes and that the narrow space cannot accommodate too many suspension ropes. By using a single rope in the vertical direction to suspend gravity compensation at the end of the dexterous arm, the end of the dexterous arm can be able to work in the narrow space where it can penetrate deep into the narrow gap of the sail. Attached Figure Description

[0031] Figure 1 A schematic diagram of the composition of a ground-based microgravity simulation test system for precise operation of a space-based dexterous arm in a confined area;

[0032] Figure 2 A schematic diagram of the components of a service satellite motion simulator;

[0033] Figure 3A schematic diagram of the components of a target star motion simulator;

[0034] Figure 4 This is a schematic diagram of the components of a suspended microgravity simulation system.

[0035] Explanation of reference numerals in the attached drawings: 1. Space dynamics target vehicle; 2. Ground test system control console; 3. Motion simulator control console; 4. Wireless communication module; 5. Optical darkroom; 6. Distributed infrared measurement camera; 7. Sunlight simulation device; 8. Service satellite motion simulator; 9. Target satellite motion simulator; 10. Suspended microgravity simulation system; 11. Marble air-floating platform; 8-1. Service satellite air-floating base; 8-2. Dexterous arm drive control box; 8-3. Space dexterous arm body; 8-4. Dexterous arm end vision camera; 9-1. Target satellite air-floating base; 9-2. Folding sail; 9-3. Sail base; 9-4. Sail locking bolt; 10-1. Outer frame; 10-2. Vertical motion rope deployment and retraction module; 10-3. Horizontal motion rope deployment and retraction module; 10-4. First suspension point; 10-5. Guide rail; 10-6. Crossbeam; 10-7. Second suspension point. Detailed Implementation

[0036] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments:

[0037] A ground-based microgravity simulation test system for precise operation in confined spaces using a dexterous arm is described below. Figure 1 It mainly includes a space dynamics target machine 1, a ground test system control console 2, a motion simulator control console 3, a wireless communication module 4, an optical darkroom 5, a distributed infrared measurement camera 6, a sunlight simulation device 7, a service star motion simulator 8, a target star motion simulator 9, a suspended microgravity simulation system 10, and a marble air-floating platform 11.

[0038] The suspended microgravity simulation system 10 and the marble air-bearing platform 11 are both placed inside the optical darkroom 5. The service satellite motion simulator 8 and the target satellite motion simulator 9 are placed on the surface of the marble air-bearing platform 11. The service satellite motion simulator 8 includes a service satellite air-bearing base 8-1, a manipulator arm drive control box 8-2, a space manipulator arm body 8-3, and a manipulator arm end vision camera 8-4. The manipulator arm drive control box 8-2 is connected to the upper surface of the service satellite air-bearing base 8-1 and is used to control the space manipulator arm body 8-3. The manipulator arm end vision camera 8-4 is connected to the end of the space manipulator arm body 8-3. The target star motion simulator 9 includes a target star air-bearing base 9-1, a folding sail 9-2, a sail base 9-3, and a sail locking bolt 9-4. The sail base 9-3 is connected to the target star air-bearing base 9-1, and the sail locking bolt 9-4 fixes the folding sail 9-2 to the sail base 9-3. The folding sail, the sail base, and the sail locking bolt form a narrow, unstructured working environment for the manipulator arm.

[0039] The suspended microgravity simulation system 10 includes an outer frame 10-1, which is mounted above a marble air-floating platform 11. A distributed infrared measurement camera 6 and a sunlight simulation device 7 are connected to the outer frame 10-1. The outer frame 10-1 is equipped with a vertical motion rope deployment module 10-2, a horizontal motion rope deployment module 10-3, and a guide rail 10-5. The vertical motion rope deployment module 10-2 includes a crossbeam 10-6 and a first rope connected to the crossbeam 10-6. Both ends of the crossbeam 10-6 are slidably connected to the guide rail 10-5. The bottom end of the first rope is a second suspension point 10-7, used to connect to the end of the space maneuvering arm body 8-3. The horizontal motion rope retraction module 10-3 includes two sliding parts slidably connected to one side guide rail 10-5, and a second rope. The two ends of the second rope are each connected to a sliding part. One point on the second rope is the first suspension point 10-4, used to connect to the middle position of the spatial manipulator body 8-3. Both the first and second suspension points are equipped with six-dimensional force sensors. The vertical motion rope retraction module 10-2 and the horizontal motion rope retraction module 10-3 control the tension at the ends of the ropes by controlling the retraction and extension of their multiple connected ropes. Force state information is collected by the six-dimensional force sensors mounted on the suspension points, and together with the pose information measured by the distributed infrared measurement cameras mounted on the top of the outer frame, force-position coordination control is performed to achieve higher precision gravity compensation for the manipulator. The rope retraction modules can also move on the guide rails and crossbeams respectively, expanding the range of motion compensation.

[0040] Both the first and second ropes are connected to a rope retraction module, which controls the retraction and extension of the ropes, thereby applying gravity compensation to the space maneuvering arm body 8-3.

[0041] The service satellite air-bearing base 8-1 and the target satellite air-bearing base 9-1 can be suspended on the marble air-bearing platform by air pressure control, eliminating frictional resistance in the three degrees of freedom within the air-bearing platform plane. The manipulator drive control box contains a motor drive module for driving the bending motion of the space manipulator body. The end effector vision camera of the manipulator can measure the relative pose information with the target point, enabling the manipulator to move to the vicinity of the target point to perform the operation task.

[0042] The information flow diagram of the system is as follows: The space dynamics target machine 1 sets the initial illumination information of the sunlight simulation device 7 via the EtherCAT bus, and changes the illumination over time to simulate the space illumination environment during the operation of the manipulator arm; the service satellite motion simulator 8 and the target satellite motion simulator 9 are both arranged on the marble air-floating platform 11. The distributed infrared measurement camera 6 collects the pose information of the two motion simulators and sends it to the space dynamics target machine 1 via the EtherCAT bus. The space dynamics target machine 1 solves the motion equation of the service satellite motion simulator 8 according to the orbital dynamics equation and attitude dynamics equation, and sends the calculation result to the motion simulator control console 3 to calculate the control quantity of the thruster on the service satellite motion simulator, and then sends it to the service satellite motion simulator 8 via the wireless communication module 4 to control it. It approaches the target star motion simulator 9; after the service star motion simulator 8 reaches the vicinity of the target star motion simulator 9, the motion simulator console 3 sends the trajectory planning information to the space dexterous manipulator carried on the service star motion simulator 8 through the wireless communication module 4. The relative pose information measured by the end vision camera of the space dexterous manipulator is returned to the motion simulator console 3 through the wireless communication module 4 for the next trajectory planning, and according to the dynamic equation of the space dexterous arm, it gradually guides the end of the space dexterous arm to the vicinity of the folded sail carried by the target star motion simulator 9; the distributed infrared measurement camera 6 collects the position information of the marker points on the space dexterous manipulator and returns it to the ground test system console 2 through the Ethercat bus to calculate the arm shape information and end pose information of the space dexterous manipulator. Meanwhile, a six-dimensional force sensor is installed at the suspension point of the suspended microgravity simulation system 10 to collect the gravity distribution at the suspension point of the space manipulator. The data is then returned to the ground test system control console 2 via the Ethercat bus. The ground test system control console 2 calculates the gravity compensation amount of the space manipulator based on the arm shape information, end-effector pose information, and gravity distribution information at the suspension point. Based on the dynamic equations of the suspended microgravity simulation system, it calculates the motor torque control amount for each rope deployment module (including the vertical motion rope deployment module and / or the horizontal motion rope deployment module) of the suspended microgravity simulation system 10. The motor control amount is then sent to the rope deployment module (including the vertical motion rope deployment module 10-2 and the horizontal motion rope deployment module 10-3) of the suspended microgravity simulation system 10 via the Ethercat bus. The torque motors of the rope deployment modules apply the gravity compensation amount to the space manipulator through rope tension, thus offsetting the deformation of the space manipulator caused by the ground gravity environment.

[0043] Test Procedure for Ground-Based Microgravity Simulation System with Dexterous Arm for Precise Operation in Confined Areas:

[0044] 1) Experimental preparation

[0045] (1) Complete the inflation and charging of the service star motion simulator 8 carrying the space-bearing dexterous arm and the target star motion simulator 9 carrying the folding sailboard 9-2;

[0046] (2) Power on the space dynamics target machine 1, ground test system control console 2, and motion simulator control console 3; power on the suspended microgravity simulation system 10 and distributed infrared measurement camera 6. Turn on the power and air valves of the service star motion simulator 8 carrying the space maneuvering arm and the target star motion simulator 9 carrying the folding sail 9-2;

[0047] (3) Place each motion simulator in the initial position within the suspended microgravity simulation system 10, and connect the suspension point of the suspended microgravity simulation system 10 to the support plate on the space dexterity robotic arm.

[0048] (4) Collect gravity distribution information of the space dexterous manipulator through the six-dimensional force sensor on the suspension point, send it to the ground test system control console 2, and have it calculate the gravity compensation value and send it to the torque motor of the suspended microgravity simulation system 10 to compensate for the gravity of the space dexterous manipulator in the initial state and level the space dexterous manipulator.

[0049] (5) Turn off the light source in the optical darkroom 5 to avoid interference from complex light sources, turn on the power of the sunlight simulation device 7, and set the sunlight simulation device 7 to simulate the light illumination through the general control interface of the space dynamics target machine 1 to complete the initial state of the illumination environment simulation.

[0050] 2) Experimental Phase

[0051] (1) The distributed infrared measurement camera 6 collects the global pose information of the service star motion simulator 8 and the target star motion simulator 9 and sends it to the space dynamics target machine 1. The space dynamics target machine 1 solves the motion equation of the service star motion simulator 8 and sends the calculation result to the motion simulator control console 3 to calculate the control quantity of the thruster on the service star motion simulator. Then, it sends the control quantity to the service star motion simulator 8 through the wireless communication module 4 to control it to fly towards the target star motion simulator 9.

[0052] (2) After the service star motion simulator 8 reaches the preset position near the target star motion simulator 9, it maintains a stable relative pose with the target star motion simulator 9. The end vision camera of the space dexterous manipulator carried by the service star motion simulator 8 measures the relative pose information with the slit of the folding sail 9-2, and returns it to the motion simulator console 3 through the wireless communication module 4 for trajectory planning. The motion simulator console 3 sends the trajectory planning information to the space dexterous manipulator, and the space dexterous manipulator executes the corresponding trajectory movement to the slit of the folding sail 9-2;

[0053] (3) During the movement of the space dexterous manipulator, the distributed infrared measurement camera 6 collects the position information of the marker points on the space dexterous manipulator in real time, and returns it to the ground test system control console 2 via the Ethercat bus to calculate the arm shape information and end pose information of the space dexterous manipulator in real time.

[0054] (4) During the movement of the space dexterous robotic arm, the six-dimensional force sensor at the suspension point of the suspension microgravity simulation system 10 collects the gravity information at the suspension point of the space dexterous robotic arm and returns it to the ground test system control console 2 via the Ethercat bus.

[0055] (5) During the movement of the space manipulator, the ground test system control console 2 calculates the gravity compensation amount of the space manipulator based on the arm shape information, end pose information and gravity distribution information at the suspension point of the space manipulator, and calculates the torque control amount obtained on each rope retraction module of the suspension microgravity simulation system 10. Then, the torque control amount is sent to the torque motor of the suspension microgravity simulation system 10. The torque motor applies the gravity compensation amount to the space manipulator through the rope tension to counteract the deformation of the space manipulator caused by the ground gravity environment.

[0056] (6) The end vision camera of the space dexterous robot measures the relative pose of the unlocked sail fixing bolts in the slit of the folded sail 9-2 and returns it to the motion simulator console 3 to plan the end approach path of the robot arm. According to the planned path, the space dexterous robot arm moves to the sail fixing bolts to perform the preset operation task.

[0057] (7) After the space-dexterous robotic arm completes the operation task, it exits the windsurfing area along the original entry path. The ground test system control console 2 issues a test stop instruction, the distributed infrared measurement camera 6 stops collecting position information, and the ground test system control console 2 and the motion simulator control console 3 store the test data.

[0058] (8) Turn off the sunlight simulation device 7, turn on the illumination of the optical darkroom 5, disconnect the power supply of the space manipulator, the suspended microgravity simulation system 10 and the distributed infrared measurement camera 6, turn off the power supply and gas valve of the service star motion simulator 8 and the target star motion simulator 9, turn off the power supply of the space dynamics target machine 1, the ground test system control console 2 and the motion simulator control console 3, and the test ends.

[0059] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope defined in the claims of the present invention.

Claims

1. A microgravity simulation experimental system for precise operation in a confined space using a dexterous arm, characterized in that: It includes an optical darkroom (5), a distributed infrared measurement camera (6), a sunlight simulation device (7), a service star motion simulator (8), a target star motion simulator (9), a suspended microgravity simulation system (10), and a marble air-floating platform (11); The suspended microgravity simulation system (10) and the marble air-floating platform (11) are both placed in the optical darkroom (5), and the service star motion simulator (8) and the target star motion simulator (9) are placed on the surface of the marble air-floating platform (11). The service satellite motion simulator (8) includes a service satellite air-floating base (8-1), a manipulator arm drive control box (8-2), a space manipulator arm body (8-3), and a manipulator arm end vision camera (8-4). The manipulator arm drive control box (8-2) is connected to the service satellite air-floating base (8-1) and is used to control the space manipulator arm body (8-3). The manipulator arm end vision camera (8-4) is connected to the end of the space manipulator arm body (8-3). The target star motion simulator (9) includes a target star air-bearing base (9-1), a folding sail (9-2), a sail base (9-3), and a sail locking bolt (9-4). The sail base (9-3) is connected to the target star air-bearing base (9-1), and the sail locking bolt (9-4) fixes the folding sail (9-2) to the sail base (9-3). The suspended microgravity simulation system (10) is used to apply gravity compensation to the space maneuvering arm body (8-3), and the distributed infrared measurement camera (6) and the sunlight simulation device (7) are connected to the suspended microgravity simulation system (10). The sunlight simulation device (7) is used to simulate sunlight; The distributed infrared measurement camera (6) acquires the pose information of the service star motion simulator (8) and the target star motion simulator (9); The suspended microgravity simulation system (10) includes an outer frame (10-1), which is mounted above the marble air-floating platform (11). The outer frame (10-1) is equipped with a vertical motion rope retraction module (10-2) and a horizontal motion rope retraction module (10-3). The rope of the vertical motion rope retraction module (10-2) is connected to the end of the space manipulator body (8-3) and is used to drive the end of the space manipulator body (8-3) to move vertically. The rope of the horizontal motion rope retraction module (10-3) is connected to the middle position of the space manipulator body (8-3) and is used to drive the middle of the space manipulator body (8-3) to move horizontally, thereby applying gravity compensation to the space manipulator body (8-3).

2. The microgravity simulation test system for precise operation in a confined area using a spatial dexterity arm according to claim 1, characterized in that: It also includes a space dynamics target machine (1), a ground test system control console (2), a motion simulator control console (3), and a wireless communication module (4); The space dynamics target machine (1) is used to set the illumination of the sunlight simulation device (7); The distributed infrared measurement camera (6) collects the pose information of the two motion simulators and sends it to the space dynamics target machine (1); The space dynamics target machine (1) calculates the path equation of the service star motion simulator (8) based on the pose information of the service star motion simulator (8) and the target star motion simulator (9), and sends the path equation of the service star motion simulator (8) to the motion simulator console (3). The motion simulator console (3) calculates the control quantity of the thruster on the service star motion simulator (8) according to the path equation of the service star motion simulator (8), and then sends the control quantity of the thruster on the service star motion simulator (8) to the service star motion simulator (8) through the wireless communication module (4) to control it to move towards the target star motion simulator (9). near; After the service star motion simulator (8) reaches the vicinity of the target star motion simulator (9), the motion simulator console (3) sends the trajectory planning information to the space dexterous manipulator carried on the service star motion simulator (8) through the wireless communication module (4). The relative pose information measured by the end vision camera of the space dexterous manipulator is returned to the motion simulator console (3) through the wireless communication module (4) for the next trajectory planning, gradually guiding the end of the space dexterous arm to the vicinity of the folding sailboard (9-2) carried by the target star motion simulator (9). The distributed infrared measurement camera (6) collects the position information of the marker points on the body of the space dexterous manipulator and returns the position information of the marker points to the ground test system console (2) to calculate the arm shape information and end pose information of the body of the space dexterous manipulator.

3. The microgravity simulation test system for precise operation in a confined area using a spatial dexterity arm according to claim 2, characterized in that: The suspended microgravity simulation system (10) is connected to a six-dimensional force sensor at the suspension point of the space maneuvering arm body (8-3).

4. The microgravity simulation test system for precise operation in a confined area using a spatial dexterity arm according to claim 3, characterized in that: The six-dimensional force sensor at the suspension point of the suspended microgravity simulation system (10) collects the gravity distribution information at the suspension point of the space manipulator and returns the gravity distribution information at the suspension point to the ground test system console (2). The ground test system console (2) calculates the gravity compensation amount of the space manipulator body based on the arm shape information, end pose information and gravity distribution information at the suspension point of the space manipulator, and solves it into the motor torque control amount of each rope retraction module of the suspended microgravity simulation system (10). Then, the motor control amount is sent to the vertical motion rope retraction module (10-2) and / or the horizontal motion rope retraction module (10-3). The vertical motion rope retraction module (10-2) and / or the horizontal motion rope retraction module (10-3) apply the gravity compensation amount to the space manipulator through the rope tension to counteract the deformation of the space manipulator caused by the ground gravity environment.

5. The microgravity simulation test system for precise operation in a confined area using a spatial dexterity arm according to claim 1, characterized in that: The outer frame (10-1) is provided with a guide rail (10-5). The vertical motion rope retraction module (10-2) includes a crossbeam (10-6) and a first rope connected to the crossbeam (10-6). The two ends of the crossbeam (10-6) are slidably connected to the guide rail (10-5). The bottom end of the first rope is a second suspension point (10-7). The second suspension point (10-7) is connected to the end of the space dexterous arm body (8-3).

6. The microgravity simulation test system for precise operation in a confined area using a spatial dexterity arm according to claim 2, characterized in that: The horizontal motion rope retraction module (10-3) includes two sliding parts that are slidably connected to one side guide rail (10-5) and a second rope. The two ends of the second rope are respectively connected to a sliding part, and a point on the second rope is a first suspension point. The first suspension point is connected to the middle position of the space dexterous arm body (8-3).

7. The microgravity simulation test system for precise operation in a confined area using a spatial dexterity arm according to claim 1, characterized in that: The dexterous arm drive control box (8-2) contains a motor drive module for driving the bending motion of the spatial dexterous arm body (8-3).

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