Six degree of freedom ground test apparatus and method for verifying quality release process

Abstract

The application belongs to the field of precision measurement, and specifically discloses a six-degree-of-freedom ground test device and method for verifying the quality release process. In the application, a torsion pendulum mechanism is arranged inside the test mass and does not slide relative to the test mass and constitutes an integral whole. The torsion pendulum mechanism comprises a spring, a suspension wire and a torsion pendulum support. The spring is connected to the top inner wall of the vacuum mechanism, and the lower end of the spring is connected to the suspension wire. The lower end of the suspension wire is connected to the center of mass of the torsion pendulum support-test mass integral whole. Compared with a two-stage pendulum mechanism, the spring and the suspension wire are suspended to overcome the influence of the earth's gravity. Due to the low stiffness of the spring, the test mass can move in the X, Y and Z directions. The suspension wire is directly connected to the center of mass of the integral whole, and the test mass can rotate around the Z, X and Y axes. That is, the test mass has low stiffness in six degrees of freedom, the overall motion mode is relatively simple, the motion in each degree of freedom is not coupled, free motion in six degrees of freedom is achieved, and the test process is relatively stable.

Description

Technical Field

[0001] This application belongs to the field of precision measurement, and more specifically, relates to a six-degree-of-freedom ground testing apparatus and method for inspecting a mass release process. Background Technology

[0002] Current ground-based testing of the inspection mass release process mainly employs simple pendulum or torsional pendulum devices, which can only test single-degree-of-freedom motion after release. However, in the complex environment of orbit, the released inspection mass exhibits multi-degree-of-freedom motion, which single-degree-of-freedom testing devices cannot simulate. Therefore, there is an urgent need to develop ground-based testing equipment capable of multi-degree-of-freedom simulation to improve the realism and accuracy of test results and meet practical application requirements.

[0003] CN119984891A discloses a six-degree-of-freedom ground simulation test device for on-orbit release of a test mass, comprising: a vacuum unit for simulating the vacuum environment of space; a two-stage pendulum unit disposed inside the vacuum unit for realizing the six-degree-of-freedom motion of the test mass; and a detection unit for detecting the displacement and deflection of the test mass. The test mass is a hollow planar conductor formed of metal or a metal-plated film. The locking and releasing unit includes displacement stages disposed on both sides of the test mass, with pins mounted on the displacement stages, and the displacement stages driving the pins to lock and release the test mass.

[0004] However, this technology has the following defects and deficiencies: (1) The secondary pendulum unit includes a primary pendulum body suspended inside the vacuum unit. The primary pendulum body has a test mass suspended at one end of its suspension connection point and a balancing mass at the other end. The locking and releasing unit is set inside the vacuum unit and is used to lock and release the test mass. The secondary pendulum unit also includes a pendulum bracket installed inside the hollow structure. The pendulum bracket is suspended and connected to the primary pendulum body through a suspension wire, and the connection node between the pendulum bracket and the suspension wire is located at the center of mass of the whole formed by the hollow structure and the pendulum bracket. The above-mentioned secondary pendulum unit makes the system motion more complex, and the motion of each degree of freedom is coupled with each other. (2) The locking and releasing unit only includes displacement stages set on both sides of the test mass. The displacement stages are equipped with ejector pins, and the displacement stages are used to drive the ejector pins to lock and release the test mass. This process only tested the third-level release process of the inspection quality using the ejector pin. It cannot test the first and second-level locking and release processes, as well as the coordination and connection between the release processes at each level. It cannot simulate the real situation of the three-level locking and release process used in the orbit to gradually reduce the contact force with the inspection quality. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this application is to provide a six-degree-of-freedom ground testing device and method for verifying the mass release process, aiming to solve the problems of coupling of various degrees of freedom in existing multi-degree-of-freedom ground tests for verifying the mass release process and the inability to simulate the real situation of three-stage release.

[0006] To achieve the above objectives, in a first aspect, this application provides a six-degree-of-freedom ground testing apparatus for inspecting a mass release process, comprising:

[0007] The vacuum mechanism, fixed on the support platform, is used to simulate the vacuum environment of space;

[0008] The torsion pendulum mechanism is used to suspend inspection quality and simulate the six degrees of freedom motion of the inspection quality.

[0009] Release mechanism, used to simulate the three-stage release process for quality inspection;

[0010] The displacement monitoring unit is used to collect displacement and deflection information for quality inspection.

[0011] The torsion mechanism is located inside the inspection mass, does not slide relative to the inspection mass, and forms an integral part. The torsion mechanism includes a spring, a suspension wire, and a torsion bracket. The spring is connected to the inner wall of the top of the vacuum mechanism above and to the suspension wire below. The suspension wire is connected to the center of mass of the torsion bracket-inspection mass as an integral part.

[0012] Preferably, the suspension wire is connected below to a position 50μm-100μm above the center of mass of the torsion pendulum support-inspection mass whole.

[0013] It should be noted that if the suspension point is too close to the center of mass, it may cause instability and horizontal rotation when the inspection mass is suspended; if it is too far away, the restoring torque generated by gravity will be too large, which will defeat the purpose of hanging the inspection mass at the center of mass. Therefore, this application preferably uses 50μm-100μm.

[0014] Preferably, the spring is made of a metal material with a yield strength greater than 900 MPa and a K value less than 100 N / m.

[0015] It should be noted that using materials with higher yield strength can ensure that fatigue failure does not occur during multiple cyclic tests; keeping the K value as low as possible can reduce the natural frequency of the spring and decrease the equivalent stiffness of the test mass moving along the Z-axis.

[0016] Preferably, when the inspection mass is stably suspended below the suspension wire, the sum of the length of the stretched spring and the length of the suspension wire can ensure that the inspection mass is located at the exact center of the electrode frame. The spring can still function normally regardless of the position of the inspection mass in the electrode frame.

[0017] It should be noted that the above-mentioned preferred configuration ensures that the spring will not be damaged when the inspection mass is located at the top or bottom of the electrode frame or moves within the electrode frame.

[0018] Preferably, the torsion bracket has a symmetrical structure and is made of the same material as the one used for quality inspection.

[0019] It should be noted that the pendulum support should be as symmetrical as possible so that the moment of inertia of rotation around the three axes of the suspension point is the same.

[0020] Preferably, the inspection mass is a standard cube with a hollow structure, the cube being made of metal or a planar conductor formed by metal plating, and the two sides of the cube that contact the release mechanism are detachable.

[0021] Preferably, the release mechanism is symmetrically arranged on both sides of the quality inspection area.

[0022] Preferably, the release mechanism is a three-stage release mechanism, which includes: a six-degree-of-freedom displacement stage, a transition plate, a plunger, and a locking claw;

[0023] The locking claw is rigidly connected to the adapter plate, which is rigidly connected to the six-degree-of-freedom displacement stage, and is used for the first-level locking and releasing of quality inspection.

[0024] The six-degree-of-freedom displacement stage is used to adjust the contact position between the locking claw, the plunger and the inspection quality, and to drive the plunger to lock and release the inspection quality.

[0025] The plunger is connected to the adapter plate and extends and retracts independently on the adapter plate to simulate the second-stage release process for quality inspection.

[0026] The plunger also includes a pin, which is located at the top of the plunger and can extend independently to simulate the low-speed release process for quality inspection.

[0027] It should be noted that this application preferably uses the above-mentioned three-stage release mechanism, which is symmetrically arranged on both sides of the inspection quality. The three-stage release mechanism is controlled by a six-degree-of-freedom displacement table. This allows for testing of the locking and release process of the inspection quality in the first, second, and third stages, as well as the coordination and connection between each stage of the release process. This enables better simulation testing of the entire release process under on-orbit conditions and is more in line with real on-orbit conditions.

[0028] Secondly, this application provides a six-degree-of-freedom ground test method for verifying a mass release process, comprising:

[0029] Step S1: Drive the three-stage release mechanism to lock the inspection quality, simulating the on-orbit locking state of the inspection quality;

[0030] Step S2: Drive the locking claw to retract, simulating the first-stage release of the inspection quality. At the same time, drive the plunger to extend from the adapter plate and contact the center position of the inspection quality, applying a certain preload force.

[0031] Step S3: Drive the displacement stage so that the plunger can precisely adjust the inspection quality to the center position of the electrode frame.

[0032] Step S4: Drive the ejector pin forward and the plunger backward. The inspection quality is constrained by the ejector pin. After the ejector pin contacts the inspection quality, it applies a certain preload force to the inspection quality to simulate the secondary release of the inspection quality.

[0033] Step S5: Drive the ejector pin to retract rapidly, causing the inspection mass to shift and deflect in six degrees of freedom, simulating the three-stage release of the inspection mass;

[0034] Step S6: The displacement monitoring unit detects the displacement and deflection information of the inspection quality.

[0035] Preferably, step S1 includes:

[0036] S1-1, Drive the six-degree-of-freedom displacement stage to align the plungers on both sides of the inspection mass and align them with the center of the inspection mass; at this time, the locking claw is aligned with the first-level locking contact point on the eight corners of the inspection mass;

[0037] S1-2. Drive the six-degree-of-freedom displacement stage again to approach the inspection quality from both sides. After approaching, drive the front end of the locking claw to extend, contact the inspection quality and apply a certain preload. The eight locking claws complete the first-level locking of the inspection quality.

[0038] Overall, the technical solutions conceived in this application have the following beneficial effects compared with the prior art:

[0039] This application proposes a six-degree-of-freedom ground testing device for inspecting the release process of a test mass. The torsion pendulum mechanism is located inside the test mass, does not slide relative to the test mass, and forms an integral part. The torsion pendulum mechanism includes a spring, a suspension wire, and a torsion pendulum support. The spring is connected to the inner wall of the top of a vacuum mechanism above and to the suspension wire below. The suspension wire is connected to the center of mass of the torsion pendulum support-test mass assembly below. Compared to a two-stage pendulum mechanism, the spring and suspension wire overcome the influence of gravity. Due to the lower stiffness of the spring, the test mass can perform translational motion in the X, Y, and Z directions. Because the suspension wire is directly connected to the center of mass of the test mass, the test mass can rotate around the Z-axis, X-axis, and Y-axis. That is, the torsion pendulum mechanism can make the test mass have low stiffness in all six degrees of freedom. The overall motion mode of the system is relatively simple, and the motion in each degree of freedom is not coupled, thus achieving free motion in all six degrees of freedom. The motion testing process is relatively stable. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of a six-degree-of-freedom ground testing device for inspecting the mass release process, provided in an embodiment of this application.

[0041] Figure 2 This is a schematic diagram of the torsion mechanism provided in the embodiments of this application.

[0042] Figure 3 This is a schematic diagram of the three-stage release mechanism provided in the embodiments of this application. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0044] The embodiments of this application are described below with reference to the accompanying drawings.

[0045] like Figure 1 As shown, this application provides a six-degree-of-freedom ground testing device for verifying the mass release process, comprising:

[0046] The vacuum mechanism, fixed on the support platform, is used to simulate the vacuum environment of space;

[0047] The torsion pendulum mechanism is used to suspend inspection quality and simulate the six degrees of freedom motion of the inspection quality.

[0048] Release mechanism, used to simulate the three-stage release process for quality inspection;

[0049] The displacement monitoring unit is used to collect displacement and deflection information for quality inspection.

[0050] like Figure 2 As shown, the torsion pendulum mechanism is located inside the inspection mass, does not slide relative to the inspection mass, and forms an integral part. The torsion pendulum mechanism includes a spring, a suspension wire, and a torsion pendulum support. The spring is connected to the inner wall of the top of the vacuum mechanism above and to the suspension wire below. The suspension wire is connected to the center of mass of the torsion pendulum support-inspection mass integral part below.

[0051] The quality inspection, torsion mechanism, release mechanism, and displacement monitoring unit are all located inside the vacuum mechanism.

[0052] In this application, the motion stiffness of the inspection mass in six degrees of freedom is as follows:

[0053]

[0054]

[0055]

[0056]

[0057] in, and These are the inspection quality. X,Y,Z Equivalent stiffness of directional translation and rotation X,Y,Z Equivalent stiffness for shaft rotation; K is the spring constant; m To inspect the quality and the total mass of the torsion bracket; L The length of the suspension wire; N The shear modulus of the suspended wire; J Let be the polar moment of inertia of the suspended wire cross section.

[0058] In this embodiment, the suspension wire is used as a circular cross-section. , Represents gravitational acceleration. This indicates the radius of the suspension wire, hence the inspection quality is related to the winding. z The equivalent stiffness for shaft rotation is:

[0059]

[0060] The specific implementation of the six degrees of freedom in this application is as follows: vertical translation (Z-axis) is simulated through spring simulation; X and Y-axis translation is simulated through the oscillation simulation of the suspension wire and the inspection mass; and Z-axis torsion is simulated through the torsion simulation of the suspension wire. The inspection mass can rotate freely around the suspension point in these two degrees of freedom (torsion around the X and Y axes). In this application, with the center of the electrode frame as the origin, when the inspection mass is in this position, the X-axis points to the normal direction of the side of the inspection mass that is not in contact with the release mechanism, the Y-axis points to the normal direction of the side of the inspection mass that is in contact with the release mechanism, and the Z-axis points vertically upward, consistent with the direction of the suspension wire. The X, Y, and Z axes form a right-handed rectangular coordinate system.

[0061] Preferably, the lower part of the suspension wire is connected to a position 50μm-100μm above the center of mass of the torsion pendulum support-inspection mass whole, and the two are fixedly connected.

[0062] Preferably, the spring is made of a metal material with a yield strength greater than 900 MPa and a K value less than 100 N / m.

[0063] Preferably, the suspension wire is a tungsten wire with a small radius to avoid increasing torsional stiffness.

[0064] Preferably, when the inspection mass is stably suspended below the suspension wire, the sum of the length of the stretched spring and the length of the suspension wire can ensure that the inspection mass is located at the exact center of the electrode frame. The spring can still function normally regardless of the position of the inspection mass in the electrode frame.

[0065] Preferably, the torsion bracket has a symmetrical structure and is made of the same material as the one used for quality inspection.

[0066] Preferably, the inspection mass is a standard cube with a hollow structure, the cube being made of metal or a planar conductor formed by metal plating, and the two sides of the cube that contact the release mechanism are detachable.

[0067] Preferably, the three-stage release mechanism is movably and symmetrically arranged on both sides of the quality inspection area.

[0068] Preferably, such as Figure 3 As shown, the three-stage release mechanism includes: a six-degree-of-freedom displacement stage, a transition plate, a plunger, and a locking claw;

[0069] The locking claw is rigidly connected to the adapter plate, which is rigidly connected to the six-degree-of-freedom displacement stage, and is used for the first-level locking and releasing of quality inspection.

[0070] The six-degree-of-freedom displacement stage is used to adjust the contact position between the locking claw, the plunger and the inspection quality, and to drive the plunger to lock and release the inspection quality.

[0071] The plunger is connected to the adapter plate and extends and retracts independently on the adapter plate to simulate the second-stage release process for quality inspection.

[0072] The plunger also includes a pin, which is located at the top of the plunger and can extend independently to simulate the low-speed release process for quality inspection.

[0073] In this application, a first-stage locking and releasing mechanism is achieved through locking claws; a second-stage locking and releasing mechanism is achieved through a plunger; and a third-stage locking and releasing mechanism is achieved through independently extendable ejector pins located inside the plunger. The relative positions of the plunger and locking claws must be such that a three-stage release test can be performed on the inspection quality. More specifically, when the axis of the plunger is aligned with the center of the inspection quality, the four locking claws on this adapter plate should be aligned with the four corners of the inspection quality, respectively.

[0074] Preferably, the locking claw is made of aluminum, and the front and rear ends of the locking claw are two coaxial cylinders. The front end can retract independently to a certain distance, and the top of the front end is a plane that mates with the surface of the quality inspection. There are a total of eight locking claws (four on one side), which are symmetrically arranged at the eight corners of the quality inspection.

[0075] Preferably, the plunger is made of aluminum, with a cylindrical rear end and a frustum front end, and the two parts are coaxially arranged.

[0076] Preferably, the axis of the ejector pin is aligned with the axis of the plunger.

[0077] Preferably, the locking claw, plunger, ejector pin, and the contact parts with the quality inspection are all gold-plated.

[0078] Preferably, the displacement monitoring unit includes an electrode frame and twelve capacitor plates. The electrode frame is stationary inside the vacuum mechanism, and the twelve capacitor plates are all arranged on the six sides of the electrode frame. The inspection mass is located inside the electrode cage formed by the capacitor plates and has no contact with the capacitor plates.

[0079] Preferably, the capacitor plates and the inspection mass together constitute a capacitor, and the differential capacitance signal generated when the inspection mass moves within the capacitor plates is detected by the capacitor displacement sensing circuit, thereby measuring the displacement and deflection information generated by the inspection mass.

[0080] This application provides a six-degree-of-freedom ground test method for verifying the mass release process, including:

[0081] Step S1: Drive the three-stage release mechanism to lock the inspection quality, simulating the on-orbit locking state of the inspection quality;

[0082] Step S2: Drive the locking claw to retract, simulating the first-stage release of the inspection quality. At the same time, drive the plunger to extend from the adapter plate and contact the center position of the inspection quality, applying a certain preload force.

[0083] Step S3: Drive the displacement stage so that the plunger can precisely adjust the inspection quality to the center position of the electrode frame.

[0084] Step S4: Drive the ejector pin forward and the plunger backward. The inspection quality is constrained by the ejector pin. After the ejector pin contacts the inspection quality, it applies a certain preload force to the inspection quality to simulate the secondary release of the inspection quality.

[0085] Step S5: Drive the ejector pin to retract rapidly, causing the inspection mass to shift and deflect in six degrees of freedom, simulating the three-stage release of the inspection mass;

[0086] Step S6: The displacement monitoring unit detects the displacement and deflection information of the inspection quality.

[0087] Preferably, step S1 includes:

[0088] S1-1, Drive the six-degree-of-freedom displacement stage to align the plungers on both sides of the inspection mass and align them with the center of the inspection mass; at this time, the locking claw is aligned with the first-level locking contact point on the eight corners of the inspection mass;

[0089] S1-2. Drive the six-degree-of-freedom displacement stage again to approach the inspection quality from both sides. After approaching, drive the front end of the locking claw to extend, contact the inspection quality and apply a certain preload. The eight locking claws complete the first-level locking of the inspection quality.

[0090] In step S5, when the ejector pin retracts, the asymmetry on both sides and the influence of adhesive forces result in residual velocity and residual angular velocity, which in turn lead to displacement and deflection.

[0091] The displacement monitoring unit acquires the displacement and rotation information of the inspection mass based on the differential capacitance signal generated between the inspection mass at its initial position and its position after release and the capacitor plates, thereby detecting the six-degree-of-freedom motion state of the inspection mass.

[0092] Example

[0093] In this embodiment, the suspension wire is made of tungsten, with a length of 75 cm and a diameter of 125 μm. The spring is made of stainless steel and has a length of 10 cm. Both the spring and the suspension wire have a certain load-bearing capacity, and the spring has low stiffness. The material for quality inspection is a gold-platinum alloy, and the shape is a standard hollow cube of 5 cm × 5 cm × 5 cm. The thickness of each face of the cube is 15 mm. The cube is ground, polished, and gold-plated.

[0094] The locking claw has a cylinder with a diameter of 5 mm and a length of 20 mm in the front half and a cylinder with a diameter of 10 mm and a length of 25 mm in the rear half. The front half can be retracted into the rear half. The plunger has a cone with a top diameter of 2 mm, a bottom diameter of 3 mm, and a height of 5 mm in the front half and a cylinder with a bottom diameter of 3 mm and a height of 25 mm in the rear half. The plunger can be extended in a direction perpendicular to the adapter plate. The ejector pin is 5 mm long and can extend or retract from the plunger. All parts of the locking claw, plunger, and ejector pin that come into contact with the quality inspection are gold-plated and are flat.

[0095] In this application, the terms "first" and "second," etc., are used to distinguish different objects, not to describe a specific order of objects. For example, "first response message" and "second response message," etc., are used to distinguish different response messages, not to describe a specific order of response messages.

[0096] In this application, the term "electrical connection" can refer to a direct circuit connection or a signal transmission via a communication protocol.

[0097] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0098] In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more, for example, multiple processing units means two or more processing units, multiple elements means two or more elements, etc.

[0099] It should be understood that expressions such as “comprising” and “may include” used in this application indicate the existence of the disclosed functions, operations, or constituent elements, and do not limit one or more additional functions, operations, and constituent elements. In this application, terms such as “comprising” and / or “having” are to be interpreted as indicating a particular characteristic, number, operation, constituent element, component, or combination thereof, but not to exclude the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components, or combinations thereof.

[0100] Furthermore, in this application, the expression "and / or" includes any and all combinations of the associated listed words. For example, the expression "A and / or B" may include A, may include B, or may include both A and B.

[0101] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. "Fixed connection" refers to a connection where the relative positional relationship remains unchanged after connection. "Rotary connection" refers to a connection where the components can rotate relative to each other after connection. "Sliding connection" refers to a connection where the components can slide relative to each other after connection. The directional terms mentioned in the embodiments of this application, such as "top," "bottom," "inner," "outer," "left," and "right," are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of this application, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0102] Furthermore, the mathematical concepts mentioned in the embodiments of this application, such as symmetry, equality, parallelism, and perpendicularity, are limitations specific to the current technological level, rather than absolute and strict mathematical definitions. Slight deviations are permissible; approximations of symmetry, equality, parallelism, and perpendicularity are all acceptable. For example, "A and B are parallel" means that A and B are parallel or approximately parallel, and the angle between A and B can be between 0 and 10 degrees. "A and B are perpendicular" means that A and B are perpendicular or approximately perpendicular, and the angle between A and B can be between 80 and 100 degrees.

[0103] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A six degree of freedom ground test device for inspecting a quality release process, characterized in that, It comprises: a vacuum mechanism fixed on a bearing platform for simulating a space vacuum environment; a torsion pendulum mechanism for suspending a test mass to simulate six degrees of freedom movement of the test mass; a release mechanism for simulating a three-stage release process of the test mass; a displacement monitoring unit for collecting displacement and deflection information of the test mass. The torsion pendulum mechanism is arranged inside the test mass and does not slide relative to the test mass and constitutes an integral whole, and the torsion pendulum mechanism comprises a spring, a suspension wire and a torsion pendulum support, the spring is connected to the top inner wall of the vacuum mechanism, the suspension wire is connected to the bottom of the spring, and the suspension wire is connected to the center of mass of the torsion pendulum support-test mass integral whole.

2. The six degree of freedom ground test device of claim 1, wherein, The suspension wire is connected to a position 50-100 μm above the center of mass of the torsion pendulum support-test mass integral whole.

3. The six degree of freedom ground test device of claim 1, wherein, The spring is made of a metal material with a yield strength greater than 900 MPa and a K value less than 100 N / m.

4. The six degree of freedom ground test device of claim 1, wherein, When the test mass is stably hung below the suspension wire, the sum of the length of the elongated spring and the suspension wire can make the test mass located in the center of the polar plate frame of the displacement monitoring unit, and the spring can still work normally when the test mass is at any position of the polar plate frame.

5. The six degree of freedom ground test device of claim 1, wherein, The torsion pendulum support is a symmetrical structure and is made of the same material as the test mass.

6. The six degree of freedom ground test device of claim 1, wherein, The test mass is a standard hollow cube, the material of the cube is a metal or a metal plated plane conductor, and the two surfaces of the cube in contact with the release mechanism are detachable.

7. The six degree of freedom ground test device of claim 1, wherein, The release mechanism is symmetrically arranged on both sides of the test mass.

8. The six degree of freedom ground test device of claim 7, wherein, The release mechanism is a three-stage release mechanism, which comprises a six-degree-of-freedom displacement table, an adapter plate, a plunger and a locking claw. The locking claw is rigidly connected to the adapter plate, and the adapter plate is rigidly connected to the six-degree-of-freedom displacement table for primary locking and releasing of the test mass. The six-degree-of-freedom displacement table is used to adjust the contact position of the locking claw, the plunger and the test mass, and drive the plunger to lock and release the test mass. The plunger is connected to the adapter plate and can independently extend and retract on the adapter plate to simulate the second-stage release process of the test mass. The plunger further comprises a thimble arranged at the top end of the plunger and capable of independent extension to simulate the low-speed release process of the test mass.

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