Space microgravity unstructured terrain simulation platform and test method

Abstract

The invention belongs to the technical field of deep space exploration ground verification, and particularly relates to a space microgravity unstructured terrain simulation platform and a test method. The platform comprises a main body truss, a translation mechanism, a lifting mechanism, a foldable supporting plane, a controller and a plurality of sets of suspension buffer mechanisms, the lifting mechanism and the foldable supporting plane are arranged at the bottom of the main body truss, and the lifting mechanism is located at the bottom of one end of the foldable supporting plane; the lifting mechanism simulates different slope environments by adjusting the height position of one end of the foldable supporting plane; the translation mechanism is arranged at the top of the main body truss and has the degree of freedom of horizontal movement in the transverse direction and the longitudinal direction; the multiple sets of suspension buffer mechanisms are connected with the translation mechanism and are used for being connected with a test robot so as to balance the gravity of the test robot; and the controller is used for controlling the translation mechanism and the lifting mechanism to move. According to the invention, efficient and high-fidelity ground verification of motion planning, a control algorithm and mechanism performance of the space mobile robot is realized.

Description

Technical Field

[0001] This invention belongs to the field of deep space exploration ground verification technology, specifically relating to a space microgravity unstructured terrain simulation platform and testing method. Background Technology

[0002] In deep space exploration missions, mobile robots need to operate reliably in microgravity and complex terrain environments. Because the extraterrestrial environment differs significantly from Earth's gravity environment, and real-world environmental testing cannot be conducted before launch, building a high-fidelity simulation test platform on the ground is crucial. Existing testing technologies have significant shortcomings:

[0003] 1. In terms of gravity simulation: Parabolic flight, drop tower, or water buoyancy methods are commonly used, but these are extremely costly, time-consuming, or subject to significant fluid interference, making it difficult to conduct long-term, repetitive robot motion tests. Simple ballast methods are ill-suited for the multi-body, dynamic motion of robots and are prone to entanglement and interference.

[0004] 2. In terms of terrain simulation: it mostly uses slopes with fixed angles or simple rock formations, which cannot dynamically and flexibly reconstruct complex terrain, nor can it be linked with the robot's movement process, resulting in limited realism.

[0005] 3. System integration: Gravity simulation and terrain simulation are usually separated, failing to build a closed-loop test environment that couples "gravity and terrain", and thus failing to fully assess the robot's adaptive and coordinated control capabilities in real tasks.

[0006] Therefore, there is an urgent need for a low-cost ground platform that can integrate and dynamically simulate microgravity effects and unstructured terrain, and support long-term, systematic testing of robots. Summary of the Invention

[0007] To address the aforementioned problems, the present invention aims to provide a space microgravity unstructured terrain simulation platform and testing method, enabling efficient and high-fidelity ground verification of motion planning, control algorithms, and mechanical performance of space mobile robots.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] This invention provides a microgravity unstructured terrain simulation platform, comprising a main truss, a translation mechanism, a lifting mechanism, a foldable support plane, a controller, and multiple sets of suspension buffer mechanisms. The lifting mechanism and the foldable support plane are located at the bottom of the main truss, with the lifting mechanism situated at the bottom of one end of the foldable support plane. The lifting mechanism simulates different slope environments by adjusting the height of one end of the foldable support plane. The translation mechanism is located at the top of the main truss and has lateral and longitudinal degrees of freedom for horizontal movement. Multiple sets of suspension buffer mechanisms are connected to the translation mechanism and are used to connect to a test robot to balance the robot's weight. The controller controls the movement of the translation mechanism and the lifting mechanism.

[0010] The suspension buffer mechanism includes a slider, an elastic buffer element, a pulley, a counterweight, and a rope. The slider, elastic buffer element, and pulley are connected in sequence, and the slider is slidably connected to the translation mechanism. One end of the rope is connected to the counterweight, and the other end passes through the pulley and is connected to the test robot.

[0011] The elastic buffer element is a buffer spring.

[0012] The translation mechanism includes a lateral translation module, a sliding platform, a longitudinal translation module, and a translation truss. The lateral translation module is arranged laterally on both sides of the top of the main truss. The longitudinal translation module is connected to the lateral translation module through the sliding platform. The translation truss is connected to the longitudinal translation module. The lateral translation module and the longitudinal translation module are used to drive the translation truss to move laterally and longitudinally, respectively.

[0013] The lifting mechanism includes an upper platform, a hydraulic motor, scissor lift casters, a scissor lift telescopic support frame, and a lower platform. The upper platform, scissor lift telescopic support frame, and lower platform are connected sequentially from top to bottom. The hydraulic motor is located at the bottom of the scissor lift telescopic support frame and is used to drive the scissor lift telescopic support frame to extend and retract along the height direction. Four scissor lift casters are provided at the four corners of the bottom of the lower platform.

[0014] The foldable support plane includes a first section, a second section, and a third section that are hinged together in sequence, wherein the third section is connected to the lifting mechanism.

[0015] The controller is configured to receive the position feedback signal of the test robot and control the translation mechanism to drive the suspension buffer mechanism to follow the movement of the test robot on the horizontal plane.

[0016] Another aspect of the present invention provides a testing method using the space microgravity unstructured terrain simulation platform described above, comprising the following steps:

[0017] Platform configuration steps: Adjust the counterweight of the suspension buffer mechanism to simulate the target gravity environment; control the lifting mechanism to set the slope of the foldable support plane to simulate the target terrain;

[0018] Static testing steps: Place the test robot on the set terrain to verify its static stability under simulated gravity environment;

[0019] Dynamic follow-up test steps: Start the test robot to move; the controller controls the translation mechanism to make the suspension buffer mechanism track the movement of the test robot on the horizontal plane, while continuously providing gravity compensation.

[0020] In the dynamic follow-up test step, the controller controls the translation mechanism based on the horizontal position coordinates fed back by the test robot in real time, so that the suspension point and the projection of the robot's center of mass on the horizontal plane are kept coincident or in a preset following position.

[0021] The surface of the foldable support plane is covered with different granular media or fixed with obstacle modules to simulate the weathering layer or rock on the surface of a celestial body. During the test, the lifting mechanism is dynamically adjusted to change the terrain slope.

[0022] The present invention has the following beneficial effects and advantages:

[0023] 1. Achieved tight coupling simulation of gravity and terrain environment: This invention integrates dynamic microgravity compensation system with active deformable unstructured terrain simulation platform for the first time, which can simulate the core scenario of "complex terrain movement under specific gravity", with extremely high test fidelity.

[0024] 2. Excellent microgravity simulation effect and adaptability to dynamic motion: The present invention adopts the "counterweight balance + spring buffer + horizontal follow-up" scheme, which is low in cost and can achieve long-term testing; the follow-up system ensures that the robot can still obtain effective gravity compensation when moving over a wide range, solving the motion limitation problem of the traditional wire hanging method.

[0025] 3. Flexible and controllable terrain simulation: This invention achieves stepless and controllable adjustment of the slope of the supporting plane through a simple linkage and hinge mechanism, which can quickly reconstruct different slopes and combinations of terrain to meet diverse testing needs.

[0026] 4. System openness and strong scalability: The main body of the platform of this invention is a truss structure, which is easy to expand in size or integrate additional sensors (such as force plates and motion capture systems). Soil or fixed rock modules of different particle sizes can be laid on the foldable support plane to simulate a more realistic surface medium.

[0027] 5. High testing efficiency and good safety: This invention provides a repeatable, controllable and safe indoor testing environment for robot algorithm development and mechanism verification, which greatly reduces the cost and risk of field testing.

[0028] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0029] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0030] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0031] Figure 1 This is an isometric schematic diagram of a space microgravity unstructured terrain simulation platform according to the present invention;

[0032] Figure 2 This is a schematic diagram of the main truss structure in this invention;

[0033] Figure 3 This is a schematic diagram of the translation mechanism in this invention;

[0034] Figure 4 This is a schematic diagram of the suspension buffer mechanism in this invention;

[0035] Figure 5 This is a schematic diagram of the lifting mechanism in this invention;

[0036] Figure 6 This is a structural schematic diagram of the foldable support plane in this invention and a diagram illustrating its deformation principle;

[0037] Figure 7 This is a schematic diagram showing the connection state between the suspension buffer mechanism and the test robot in this invention.

[0038] In the diagram: 1. Main truss; 101. Outer frame; 102. Bottom wheel; 2. Translation mechanism; 201. Translation stepper motor; 202. Sliding platform; 203. Translation truss; 3. Suspension buffer mechanism; 301. Slider; 302. Buffer spring; 303. Pulley; 304. Counterweight; 305. Rope; 4. Controller; 5. Lifting mechanism; 501. Upper platform; 502. Hydraulic motor; 503. Universal caster; 504. Scissor telescopic support frame; 505. Lower platform; 6. Foldable support plane; 601. First plane segment; 602. Second plane segment; 603. Third plane segment; 7. Test robot. Detailed Implementation

[0039] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0040] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0041] See Figures 1 to 7 As shown, an embodiment of the present invention provides a space microgravity unstructured terrain simulation platform, including a main truss 1, a translation mechanism 2, a lifting mechanism 5, a foldable support plane 6, a controller 4, and multiple sets of suspension buffer mechanisms 3. The lifting mechanism 5 and the foldable support plane 6 are located at the bottom of the main truss 1, with the lifting mechanism 5 positioned at one end of the foldable support plane 6. The lifting mechanism 5 simulates different slope environments by adjusting the height of one end of the foldable support plane 6. The translation mechanism 2 is located at the top of the main truss 1 and has lateral and longitudinal degrees of freedom for horizontal movement. The multiple sets of suspension buffer mechanisms 3 are connected to the translation mechanism 2 and are used to connect to a test robot 7 to balance the gravity of the test robot 7. The controller 4 controls the movement of the translation mechanism 2 and the lifting mechanism 5. This simulation platform forms a closed test space.

[0042] See Figure 2 As shown, in an embodiment of the present invention, the main truss 1 serves as the load-bearing frame of the platform, including an outer frame 101 and bottom wheels 102 installed at its bottom, which facilitates overall movement and positioning.

[0043] See Figure 3As shown, in an embodiment of the present invention, the translation mechanism 2 includes a transverse translation module, a sliding platform 202, a longitudinal translation module, and a translation truss 203. The transverse translation module is arranged transversely on both sides of the top of the main truss 1. The longitudinal translation module is connected to the transverse translation module through the sliding platform 202. The translation truss 203 is connected to the longitudinal translation module. The transverse translation module and the longitudinal translation module are used to drive the translation truss 203 to move transversely and longitudinally, respectively.

[0044] Specifically, the transverse translation module includes a translational stepper motor 301, a lead screw and nut assembly, and a guide rail assembly. The guide rail assembly is located on both sides of the top of the main truss 1. A lead screw parallel to the guide rail is rotatably mounted on each guide rail assembly, and the end of the lead screw is connected to the translational stepper motor 301. The sliding platform 202 is slidably engaged with the transverse guide rail and threadedly connected to the lead screw to form a threaded pair. The longitudinal translation module has a similar structure to the transverse translation module (not shown in the figure).

[0045] Preferably, the translational truss 203 is a lightweight aluminum profile frame, fixed below the sliding platform 202, and can move at any position in the XY plane.

[0046] See Figure 4 As shown, in this embodiment of the invention, the suspension buffer mechanism 3 is the core of the microgravity simulation, suspended and connected to the translational truss 203. The suspension buffer mechanism 3 includes a slider 301, an elastic buffer element, a pulley 303, a counterweight 304, and a rope 305. The slider 301, the elastic buffer element, and the pulley 303 are connected in sequence. The slider 301 is slidably embedded in the T-shaped groove of the translational truss 203 and can be positioned manually or by auxiliary drive. One end of the rope 305 is connected to the counterweight 304, and the other end is connected to the test robot 7 after passing through the pulley 303. The mass of the counterweight 304 is adjustable.

[0047] Preferably, the elastic buffer element is a buffer spring 302, and the upper end of the buffer spring 302 is connected to the slider 301 via a latch. In this embodiment, the buffer spring 302 is a tension spring, and its stiffness has been calculated to absorb dynamic overload during the movement of the test robot 7. The pulley 303 changes the direction of the rope 305. The rope 305 is a high-strength, low-elasticity acrylic rope. After passing over the pulley 303, the other end is connected to the center of gravity of the test robot 7 or the back hanging ring via a quick-release connector. This connection method balances approximately 95% of the weight of the test robot 7 through the counterweight 304, simulating microgravity; the residual gravity and dynamic force are absorbed by the buffer spring 302, thereby simulating a microgravity environment. The translation mechanism 2 can drive the entire suspension system to follow the horizontal movement of the test robot 7, avoiding entanglement of the rope 305.

[0048] See Figure 5As shown, in an embodiment of the present invention, the lifting mechanism 5 adopts a scissor-type lifting platform; the lifting mechanism 5 includes an upper platform 501, a hydraulic motor 502, scissor-type telescopic support frame 504, and a lower platform 505, wherein the upper platform 501, the scissor-type telescopic support frame 504, and the lower platform 505 are connected sequentially from top to bottom, the hydraulic motor 502 is located at the bottom of the scissor-type telescopic support frame 504, and the hydraulic motor 502 is used to drive the scissor-type telescopic support frame 504 to extend and retract along the height direction; four scissor-type casters 503 are provided at the four corners of the bottom of the lower platform 505, and the casters 503 ensure that the upper platform 501 can slide horizontally during the lifting process.

[0049] See Figure 6 As shown, in this embodiment of the invention, the deployable support plane 6 is used to simulate unstructured terrain foundations and is laid below the main truss 1. The deployable support plane 6 includes a first plane 601, a second plane 602, and a third plane 603, which are sequentially hinged by heavy-duty hinges. The first plane 601 is a rigid platform fixed to the ground or the bottom layer of the main truss 1. The third plane 603 is connected to the upper platform 501 of the lifting mechanism 5 by bolts. By driving the third plane 603 to rise and fall through the lifting mechanism 5, the second plane 602 can be forced to rotate around the first hinge, thereby forming a continuous variable slope terrain between the horizontal first plane 601, the inclined second plane 602, and the horizontal third plane 603, i.e., forming a stable slope. The slope angle α can be precisely controlled by the lifting height H. Rocks, gravel, and ice blocks can be laid on the plane to simulate landforms such as slopes on the surface of extraterrestrial bodies, meteorite craters, and ice layers.

[0050] The controller 4 is configured to receive the position feedback signal of the test robot and control the translation mechanism 2 to drive the suspension buffer mechanism 3 to follow the movement of the test robot 7 on the horizontal plane, thereby realizing the follow-up control of the suspension system.

[0051] This invention provides a microgravity unstructured terrain simulation platform. A suspension buffer mechanism uses counterweights and springs to balance the robot's weight to simulate microgravity, and a translational mechanism drives the robot's movement in a horizontal plane. A foldable support plane connects three panel sections via hinges, and a lifting mechanism adjusts the slope of the middle section to flexibly simulate slopes and other terrain features. During testing, the platform simultaneously provides dynamic gravity compensation and deformable terrain, supporting comprehensive testing of the robot's static stability, dynamic motion, and task execution in a simulated extraterrestrial environment. This invention solves the problem of coupling microgravity with complex terrain environments in simulation, providing a high-fidelity and high-efficiency testing method for ground verification of space mobile robots.

[0052] Another embodiment of the present invention provides a testing method using the space microgravity unstructured terrain simulation platform described above, comprising the following steps:

[0053] Platform configuration steps: Adjust the counterweight of the suspension buffer mechanism 3 to simulate the target gravity environment; control the movement of the lifting mechanism 5 and set the slope of the foldable support plane 6 to simulate the target terrain;

[0054] Static testing steps: Place the test robot 7 on the set terrain, which can be unfolded at a specific position of the support plane 6 (such as on a slope) to verify its static stability on an inclined plane under simulated microgravity environment;

[0055] Dynamic follow-up test steps: Start the test robot 7 to move; controller 4 controls translation mechanism 2 to make suspension buffer mechanism 3 track the movement of test robot 7 on the horizontal surface, while continuously providing gravity compensation.

[0056] In the dynamic follow-up test step, the controller 4 controls the translation mechanism 2 according to the horizontal position coordinates fed back by the test robot 7 in real time, so that the suspension point and the projection of the robot's center of mass on the horizontal plane are kept in the same position or in the preset follow position.

[0057] Different granular media or fixed obstacle modules are laid on the surface of the foldable support plane 6 to simulate the weathering layer or rock on the surface of a celestial body. During the test, the lifting mechanism 5 is dynamically adjusted to change the terrain slope.

[0058] Specifically, the platform configuration phase:

[0059] a. Based on the gravitational acceleration of the target celestial body surface (e.g., the moon g / 6, asteroid approximately 0g), calculate and configure the mass of the counterweight 304 of the suspension buffer mechanism 3 so that the test robot 7 is in the target microgravity state.

[0060] b. Control the lifting mechanism 5 via controller 4 to adjust the tilt angle of the second section of the foldable support plane 6, thereby constructing the required slope terrain.

[0061] Specifically, the dynamic follow-up testing phase:

[0062] a. Start the test robot 7 to move or perform tasks.

[0063] b. Based on the real-time position information fed back by the test robot 7 (or obtained through the top vision system), the controller drives the stepper motor of the translation mechanism 2, so that the slider 301 of the suspension buffer mechanism 3 (through the translation truss) tracks the horizontal movement of the center of mass of the test robot 7 on the horizontal plane, ensuring that the suspended rope 305 always remains approximately vertical and provides continuous microgravity compensation for the test robot 7, while avoiding the rope interfering with the robot's movement.

[0064] c. During the movement of the test robot 7, the slope of the foldable support plane 6 can be changed by dynamically adjusting the lifting mechanism 5 to simulate the terrain changes encountered by the test robot 7 during its movement and test its dynamic adaptability.

[0065] Composite task testing phase: The test robot 7 can be instructed to perform composite tasks such as climbing, crossing, attaching, and sampling on a simulated slope. The platform simultaneously provides microgravity compensation and terrain change, comprehensively evaluating the overall performance of the test robot 7 in the simulated task environment.

[0066] Example 1

[0067] Taking the test of a quadruped robot climbing a slope in the microgravity environment of an asteroid as an example:

[0068] 1. Preparation: Based on the robot's mass m and the gravitational acceleration of the asteroid target g_target, calculate the counterweight mass m_counterweight = m * (g_earth - g_target) / g_earth, and install it. Place the robot on the first segment 601 of the deployable support plane and connect it to the suspension rope 305.

[0069] 2. Terrain Construction: Set the target slope (e.g., 20°) using controller 4. Controller 4 drives the hydraulic motor 502 of the lifting mechanism 5, raising the upper platform 501 to the corresponding height H. At this point, the second section of plane 602 forms a 20° slope, while the third section of plane 603 remains horizontal, serving as the platform at the top of the slope.

[0070] 3. Static Test: Control the translation mechanism 2 to move the suspension point above the robot's initial position. Start the test, and test robot 7 to attempt to maintain a stationary posture on the slope to verify its static stability under gravity compensation.

[0071] 4. Dynamic hill climbing test:

[0072] a. Test robot 7 begins to climb up the slope.

[0073] b. Test the odometry or top vision system built into the robot 7 to feed back its horizontal position (x, y) to the controller 4 in real time.

[0074] c. The controller 4 calculates the target trajectory that the suspension point should follow and drives the X and Y stepper motors of the translation mechanism 2 so that the slider 301 (and the entire suspension system) tracks the horizontal movement of the test robot 7.

[0075] d. During this process, the counterweight 304 always provides vertical gravity compensation, and the buffer spring 302 absorbs the longitudinal force fluctuations caused by climbing.

[0076] 5. Terrain dynamic change test (optional): During the test of robot 7 climbing a slope, controller 4 can instruct lifting mechanism 5 to slowly lower the height H to simulate the terrain where the slope gradually becomes gentler, and test the robot's online gait adjustment capability.

[0077] 6. Data Collection and Analysis: By utilizing the platform's integrated motion capture system, foot force sensors (which can be integrated into a flat surface), and robot body sensor data, the platform comprehensively evaluates the robot's motion performance, energy consumption, and the effectiveness of its control algorithms in simulated environments. This platform enables efficient, safe, and repeatable robot testing in extreme outdoor environments within a laboratory setting, providing crucial ground-based validation for mission success.

[0078] Example 2: Lunar surface ramp passability test;

[0079] 1. Lay simulated lunar soil on the foldable support plane 6 and compact it.

[0080] 2. Set the target gravity to 1.62 m / s², calculate the robot's counterweight and apply it.

[0081] 3. Set the slope of the foldable support plane 6 to 15° using controller 4.

[0082] 4. Start the test. The translation mechanism 2 pulls the test robot 7 up the slope at a speed of 0.1 m / s.

[0083] 5. System records show that the robot adhered well, with no significant slippage, and the average power consumption during climbing was 65% of the rated power.

[0084] Example 3: Adaptability test for Martian multi-slope terrain;

[0085] 1. Replace the soil with Mars simulation soil and set the slope sequence: 0° (5 meters) → 10° (3 meters) → 20° (2 meters).

[0086] 2. Set the target gravity to 3.71 m / s² and adjust the counterweight.

[0087] 3. Select a buffer spring with medium stiffness (10N / mm).

[0088] 4. Perform automatic testing. The robot successfully completed the entire process, but experienced a brief attitude adjustment at a 20° slope. The control system quickly restored its stability by coordinating the rope tension.

[0089] Example 3: Simulation of near-zero gravity operation on an asteroid;

[0090] 1. The foldable support plane 6 is arranged in an irregular undulating shape, and the surface is fixed with porous rock modules.

[0091] 2. Set the target gravity to 0.05 m / s², and the counterweight close to the total weight of the robot.

[0092] 3. Use the softest springs (2 N / mm) to provide extremely smooth suspension.

[0093] 4. The robot arm was tested to simulate sample grasping. In a near-zero gravity environment, the body disturbance caused by the movement of the robot arm was effectively absorbed by the suspension system, and the grasping position accuracy error was less than 3 mm.

[0094] This invention provides a space microgravity unstructured terrain simulation platform and testing method, which for the first time organically combines variable slope unstructured terrain simulation with continuously adjustable microgravity simulation into a single platform, achieving a high degree of functional integration. It employs real surface materials and high-precision gravity compensation, ensuring the testing environment closely resembles real-world mission scenarios with high simulation realism. Based on an integrated control system, it supports complex automated testing processes and comprehensive data acquisition, achieving intelligent control. The modular design facilitates platform expansion (such as multi-robot testing) and changes to test items (such as adding vibration or temperature control environments).

[0095] This invention provides a space microgravity unstructured terrain simulation platform and testing method, which is used for ground testing of the composite environment of microgravity (or low gravity) and unstructured terrain on the surface of extraterrestrial celestial bodies (such as asteroids, the moon, and Mars). It is especially suitable for ground comprehensive performance verification and algorithm debugging of legged, wheeled, and other space mobile robots.

[0096] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A space microgravity unstructured terrain simulation platform, characterized in that, The system includes a main truss (1), a translation mechanism (2), a lifting mechanism (5), a foldable support plane (6), a controller (4), and multiple sets of suspension buffer mechanisms (3). The lifting mechanism (5) and the foldable support plane (6) are located at the bottom of the main truss (1), and the lifting mechanism (5) is located at the bottom of one end of the foldable support plane (6). The lifting mechanism (5) simulates different slope environments by adjusting the height position of one end of the foldable support plane (6). The translation mechanism (2) is located at the top of the main truss (1) and has the freedom of horizontal and vertical movement. Multiple sets of suspension buffer mechanisms (3) are connected to the translation mechanism (2) and are used to connect to the test robot (7) to balance the gravity of the test robot (7). The controller (4) is used to control the movement of the translation mechanism (2) and the lifting mechanism (5).

2. The space microgravity unstructured terrain simulation platform according to claim 1, characterized in that, The suspension buffer mechanism (3) includes a slider (301), an elastic buffer element, a pulley (303), a counterweight (304), and a rope (305). The slider (301), the elastic buffer element, and the pulley (303) are connected in sequence. The slider (301) is slidably connected to the translation mechanism (2). One end of the rope (305) is connected to the counterweight (304), and the other end is connected to the test robot (7) after passing through the pulley (303).

3. The space microgravity unstructured terrain simulation platform according to claim 2, characterized in that, The elastic buffer element is a buffer spring (302).

4. The space microgravity unstructured terrain simulation platform according to claim 1, characterized in that, The translation mechanism (2) includes a transverse translation module, a sliding platform (202), a longitudinal translation module, and a translation truss (203). The transverse translation module is arranged on both sides of the top of the main truss (1) in a transverse direction. The longitudinal translation module is connected to the transverse translation module through the sliding platform (202). The translation truss (203) is connected to the longitudinal translation module. The transverse translation module and the longitudinal translation module are used to drive the translation truss (203) to move in the transverse and longitudinal directions, respectively.

5. The space microgravity unstructured terrain simulation platform according to claim 1, characterized in that, The lifting mechanism (5) includes an upper platform (501), a hydraulic motor (502), swivel casters (503), a scissor telescopic support frame (504), and a lower platform (505). The upper platform (501), the scissor telescopic support frame (504), and the lower platform (505) are connected sequentially from top to bottom. The hydraulic motor (502) is located at the bottom of the scissor telescopic support frame (504) and is used to drive the scissor telescopic support frame (504) to extend and retract along the height direction. Four swivel casters (503) are provided at the four corners of the bottom of the lower platform (505).

6. The space microgravity unstructured terrain simulation platform according to claim 1, characterized in that, The foldable support plane (6) includes a first plane (601), a second plane (602) and a third plane (603) that are hinged together in sequence, wherein the third plane (603) is connected to the lifting mechanism (5).

7. The space microgravity unstructured terrain simulation platform according to claim 1, characterized in that, The controller (4) is configured to receive the position feedback signal of the test robot and control the translation mechanism (2) to drive the suspension buffer mechanism (3) to follow the movement of the test robot on the horizontal plane.

8. A testing method using a space microgravity unstructured terrain simulation platform as described in any one of claims 1 to 7, characterized in that, Includes the following steps: Platform configuration steps: Adjust the counterweight of the suspension buffer mechanism (3) to simulate the target gravity environment; control the action of the lifting mechanism (5) and set the slope of the foldable support plane (6) to simulate the target terrain; Static testing steps: Place the test robot (7) on the set terrain to verify its static stability under simulated gravity environment; Dynamic follow-up test steps: Start the test robot (7) to move; the controller (4) controls the translation mechanism (2) so that the suspension buffer mechanism (3) tracks the movement of the test robot (7) on the horizontal plane, while continuously providing gravity compensation.

9. The test method according to claim 8, characterized in that, In the dynamic follow-up test step, the controller (4) controls the translation mechanism (2) according to the horizontal position coordinates fed back by the test robot (7) in real time, so that the suspension point and the projection of the robot's center of mass on the horizontal plane are kept in the same position or in a preset follow position.

10. The test method according to claim 8, characterized in that, The surface of the foldable support plane (6) is covered with different granular media or fixed with obstacle modules to simulate the weathering layer or rock on the surface of a celestial body. During the test, the lifting mechanism (5) is dynamically adjusted to change the terrain slope.

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