190 results about "Micro gravity" patented technology

The invention provides an astronaut working load relieving implementation method based on a virtual reality technology in a microgravity environment, and belongs to the field of microgravity environment psychological recovery. The problems that an existing working load relieving system is difficult to provide higher immersion and interactivity for astronauts in a microgravity environment, and is poor in individuation and intervention effect are solved. According to the method, physiological state data and psychological state data of astronauts are collected, task execution data are integrated, workloads are quantified, workload types are identified after comprehensive evaluation, preliminary matching is carried out according to defined matching conditions, a virtual scene is selected through machine learning and multi-dimensional data analysis, and a virtual scene is obtained. And performing continuous fine adjustment in the loaded and presented optimized virtual scene, and recording the process. According to the method, an effective pressure relieving means can be flexibly and accurately provided according to the real-time state of the astronaut and the requirements of the working environment, and the cognitive reconstruction and psychological recovery process is enhanced through the immersion of the virtual reality technology.

The invention relates to a three-dimensional microgravity simulation system, and belongs to the field of spaceflight mechanism ground tests. According to the three-dimensional microgravity simulation system, ground six-degree-of-freedom microgravity simulation can be realized, the aircraft simulator and accessories thereof have a five-degree-of-freedom motion state on an air floating plane through the five-degree-of-freedom air floating platform, and the aircraft simulator can have a three-dimensional space six-degree-of-freedom motion state through the magnetic air suspension assembly. In the process of a ground microgravity experiment, the gravity of the movement of the aircraft and accessories thereof is unloaded by the magnetic suspension assembly, so that the movement interference of the aircraft simulator and the microgravity simulation tool is avoided, and the problem of dynamic high-precision gravity unloading is solved.

The invention belongs to the technical field related to robot motion control, and provides a robot motion control method and system in a microgravity environment in order to solve the problems of stability and sand blowing of robot motion under existing microgravity. A robot swing stage is divided into three sub-stage motions, and a robot foot end expected track is generated for each sub-stage motion; the robot state information, the historical track and the environment information are input into a pre-constructed joint control model, and a joint control instruction of the robot in the microgravity environment is obtained through prediction; the joint control model is a strategy network model trained in a reinforcement learning mode; the trajectory tracking reward is determined by the actual position of the robot and the expected position of the foot end of the robot. Stable, low-disturbance and high-efficiency movement of the robot in the microgravity environment is achieved, and meanwhile the sand blowing phenomenon is effectively restrained.

The invention relates to a low-cost parachute landing recovery system for a microgravity load return capsule, and aims to realize an efficient, reliable and economical recovery scheme through modular design, all modules are connected through standard interfaces, and assembly, maintenance and upgrading are facilitated. The structure module is used for assembling the parachute module and providing necessary shock resistance; the parachute module is used for pneumatic deceleration and attitude stabilization of the system and adopts a multi-stage unfolding structure; and the initiating explosive device module is used for bouncing the brake parachute, releasing the brake parachute and releasing a parachute closing opening. According to the system, the production and maintenance cost is remarkably reduced through modular design, meanwhile, the reliability and adaptability of the system are improved, and the system is suitable for various microgravity load return scenes and has wide market application prospects.

The invention provides a navigation method and system for a flying robot in a microgravity-normal air environment, and belongs to the technical field of autonomous navigation of robots. The problem that a robot collides with experimenters and floating objects in the environment in a near space is solved. The method comprises the following steps: acquiring navigation positioning information based on point cloud data of a depth vision camera carried by a robot and attitude angle sensing data acquired by an IMU module; determining point cloud distribution and voxelization space size; and constructing an environment map based on the acquired accurate positioning information. According to the invention, position and attitude stable control, autonomous navigation target identification and tracking in a complex environment in the cabin, and motion planning and collision avoidance can be realized, high-level and more complex tasks such as efficient interaction with experimenters, cooperative operation and the like are further realized, higher-level autonomous operation capability is realized, and the technical advantages of high safety and high reliability are realized.

The invention relates to a ground test gravity unloading device for simulating a space microgravity environment. A base is fixedly arranged at the bottom of a fixed frame; a suspension system is arranged above the base and comprises a fixed pulley block mounted on the fixed frame, a pull rope is wound on the fixed pulley block, the bottom of one end of the pull rope is connected with a dynamometer through a tension spring, and the bottom of the other end of the pull rope is wound on a winch mounted on the base; the hoisting system comprises an external excitation device which is suspended right above the detected object; the displacement sensing system comprises a displacement sensor. The device is simple in principle and construction mode, has a relatively ideal controlled unloading mode, has the test advantage of controllable fine adjustment, is mainly used for simulating a space micro-vibration / microgravity environment to carry out a ground test, reproduces a space environment on the ground to the greatest extent so as to verify the functions and performance of a spacecraft and components thereof, and has a wide application prospect. For example, whether the vibration isolator can work reliably on orbit is verified, so that the on-orbit risk is remarkably reduced, the research and development cycle is shortened, and huge cost is saved.

The invention discloses an induction type high-precision urine flow or coronary flow measuring device, which belongs to the technical field of medical instruments, and comprises a measuring box, a cantilever beam extending to the outer side of the measuring box is fixed on the inner side of the measuring box through a fixing assembly, and micro-weight sensing elements attached to the upper side and the lower side of the cantilever beam are arranged in the measuring box. The micro-weight sensing element and the variable resistor form a measuring bridge circuit and are connected with an electric signal recording device located on the outer side of the measuring box through a signal line. A liquid collecting assembly is arranged at the outer end part of the cantilever beam, a flow guide pipe fixing rod is arranged on one side of the liquid collecting assembly and is used for vertically fixing an external flow guide pipe, and the inner side of the flow guide pipe fixing rod is fixed on the side wall of the measuring box. The induction type high-precision urine flow or coronary flow measuring device is simple in structure and convenient to use, changes of liquid flow at different flow speeds can be accurately displayed, and the accuracy and scientificity of measurement and analysis of experimental results are effectively improved.

The invention discloses a gear service life evaluation method, and belongs to the technical field of aerospace mechanism service life evaluation. According to the technical scheme, firstly, a five-stress wear rate data set containing the rotating speed, the torque, the temperature alternating, the vacuum degree and the microgravity is established; then constructing a tooth surface solid lubricating film thickness evolution model based on a Hertz-Archard coupling model, and taking the film thickness approaching to zero as a failure criterion; acceleration factors under each acceleration working condition are calculated through model iteration, and a gear acceleration life test is carried out under an optimized working condition; after the test, the film thickness is measured and compared with model prediction, the rated working condition life of the gear is reversely deduced, the long-time on-orbit life of the gear is equivalently predicted through the short-time ground test, and high acceleration efficiency and reliability are achieved. The technical problems of environmental simulation distortion and low acceleration efficiency in aerospace lubrication gear service life evaluation are solved.

The invention relates to an annular antenna microgravity simulation experiment device based on a magnetic suspension technology. The annular antenna microgravity simulation experiment device comprises a rack, a linear guide rail group, a magnetic suspension driving module, a suspension rope, an annular deployable antenna, a driving rope and an antenna driving module, the linear guide rail group is horizontally arranged above the rack, and the tail end of the linear guide rail group is fixedly connected with the top end of the rack; the magnetic suspension driving modules are respectively arranged at the lower parts of the linear guide rail groups; the bottom of the magnetic suspension driving module is connected with nodes of the annular deployable antenna through suspension ropes. And the antenna driving module is arranged at one end of the bottom of the rack. The device has the characteristics of high-precision microgravity environment simulation, a large-aperture annular deployable antenna structure, excellent synchronous following performance and no friction, and solves the problems that the friction force is large, the antenna node and the gravity compensation device cannot be synchronized in real time and the like when the conventional large-aperture annular antenna performs a gravity compensation experiment by using a suspension method.

The invention discloses a press-in hardness measuring device and method in a microgravity environment, and relates to the technical field of space science experimental equipment. The invention discloses a press-in hardness measuring device in a microgravity environment. The press-in hardness measuring device comprises an airtight module, an air filtering module and a hardness measuring module, the airtight module comprises an airtight cabin body and a negative pressure device; the air filtering module is directly mounted in the airtight cabin body or is communicated with the interior of the airtight cabin body through a pipeline, and is used for circularly filtering dust in air in the airtight cabin body; the hardness measuring module is used for being coupled with or separated from a to-be-tested sample, and the air tightness of the airtight cabin body is not damaged in the coupling and separating processes. The invention discloses a press-in hardness measurement method in a microgravity environment. The method comprises the following steps: 1, carrying out sealing operation; 2, negative pressure operation; 3, hardness measurement and dust filtration; and 4, taking out the sample. The device has the advantages that by actively establishing a negative pressure environment, the airflow direction is inward even if extremely small leakage exists in the sealed cabin, so that chippings are efficiently restrained in the sealed space, and the safety is high.

The invention relates to an adjustable load space test support method. The load cold table and the telescopic device fix the load, the pressure is regulated and controlled through the pressure control assembly, the temperature is regulated and controlled through the heat support assembly and the load cold table, and the environment with the adjustable short-time space exposure radiation quantity is provided for the test load by combining stretching and retracting of the telescopic device and opening and closing of the load cabin door. Comprising the step of providing a load test support method for pressure control and temperature regulation in the microgravity cabin. A vacuum exposure test method which is long in time consumption and high in risk and is transferred by grabbing a load adapter through a mechanical arm is improved, and a load space test supporting method with exposure ionizing radiation and adjustable temperature in a microgravity cabin is provided. According to the load space test supporting method, the telescopic device carrying the load directly extends out of the cabin to carry out an exposure test, and the telescopic device can retract into the spacecraft at any time to achieve urgent danger avoiding. According to the invention, diversification of load space test support methods is expanded, complexity and cost of test support are reduced, and test safety and efficiency are improved.

The invention discloses a force-position coupling control method and system for a magnetic-pneumatic suspension servo device, and relates to the technical field of ground microgravity experiments of space mechanisms. After the sling inclination angle detection device is used for detecting the angle of the sling deviating from the numerical direction, the position following controller drives the omni-directional wheel to conduct position correction based on deflection angle feedback, meanwhile, the constant force compensation controller drives the constant force compensation motor to conduct tension adjustment through the deflection angle feedback and tension feedback, and therefore higher-precision gravity unloading is achieved.

The invention discloses a repeated unfolding and folding mechanism in a space microgravity environment, the repeated unfolding and folding mechanism comprises a transmission assembly, a winding assembly, a tensioning wheel assembly, a steel wire rope, an unfolding and folding spring and a load mounting interface, and the load mounting interface is mounted on a star; the unfolding and folding spring is fixedly connected between the transmission assembly and the load mounting interface; one end of the steel wire rope is fixedly mounted on the winding assembly, the other end is fixedly connected with the load mounting interface, and the middle part bypasses the tensioning wheel assembly; the tensioning wheel assembly is used for tensioning the steel wire rope; when the transmission assembly drives the winding assembly to rotate forwards, the steel wire rope is wound around the winding assembly, the unfolding and folding spring is compressed by winding the steel wire rope, and the unfolding and folding spring is folded; when the transmission assembly drives the winding assembly to rotate reversely, the steel wire rope is released from the winding assembly, and the unfolding and folding spring stretches under the action of spring force. The mechanism is suitable for unfolding and folding actions of load equipment in a space microgravity environment, and has the characteristics of repeated unfolding and folding and adjustable speed.

The invention relates to the technical field of space robot ground testing, in particular to a space crawling robot surface and microgravity simulation system. Comprising a surface simulation assembly, an inclined plane adjusting assembly and a gravity balancing assembly, the surface simulation assembly is arranged on the inclined plane adjusting assembly, and the inclined plane adjusting assembly is used for adjusting the inclination angle of the surface simulation assembly; the gravity balancing assembly is arranged above the surface layer simulation assembly and used for being connected with the space crawling robot to be tested, and when the space crawling robot moves on the surface layer simulation assembly according to a set trajectory plan, the gravity balancing assembly can passively adapt to the motion trajectory of the space crawling robot; and the climbing motion of the simulated satellite surface in the space microgravity environment is completed. The space crawling robot simulates crawling on the surfaces of satellites and spacecrafts in the microgravity state, verification of the motion performance of the crawling robot under the space microgravity in a ground test is completed, and the problem that the ground test of the space crawling robot is difficult is solved.

The invention belongs to the technical field of high-temperature heat pipe heat transfer performance testing, and particularly relates to a high-temperature heat pipe performance testing device and method under the microgravity condition. The device comprises a heat pipe performance test body, a test cabin, a protection recovery system and a high-altitude carrying platform, the heat pipe performance test body is arranged in the test cabin, and the high-altitude carrying platform comprises a lift-off mechanism and a release mechanism and is used for sending the test cabin to an airspace at a specified height and releasing the test cabin to realize free falling of the test cabin. The protection recovery system adopts two-stage deceleration buffering to protect the test cabin. The device has the advantages of being controllable in cost, long in microgravity time and capable of being repeatedly used, performance testing of the large-length-diameter-ratio heat pipe under the simulated space microgravity environment can be carried out, and the performance of the high-temperature heat pipe under the real working condition can be accurately and comprehensively evaluated; the device is especially suitable for testing the starting characteristic, transient and steady-state characteristics and temperature uniformity of the high-temperature heat pipe under the microgravity condition.

A space-based repeatable tolerance-tolerant docking ground simulation test device is disclosed. This invention addresses the limitations of existing ground simulation technologies in accurately simulating docking errors, faithfully reproducing microgravity environments, and simulating tunnel conditions. The invention includes a ball-joint servo-oscillating frame. A six-degree-of-freedom attitude adjustment component is located at the bottom of the ball-joint servo-oscillating frame. A standardized interface prototype is mounted on the six-degree-of-freedom attitude adjustment component, and a servo component is mounted on the standardized interface prototype. One end of a steel wire rope is connected to the servo component, and the other end of the steel wire rope passes through a pulley system fixed to the ball-joint servo-oscillating frame and is connected to a counterweight. This invention belongs to the field of aerospace engineering ground simulation test technology.

The present invention provides a space intelligent flying robot in a microgravity-normal air environment, belonging to the field of flying robots. To achieve the goal of enabling the space intelligent flying robot in a microgravity environment to have independent control over position, posture, output force, and torque. The robot comprises a carrier main frame, an outer shell, a computing system disposed within the carrier main frame, a visual navigation system disposed in front of and behind the carrier main frame, a laser ranging module embedded in the outer shell, a power supply system disposed on the left and right sides of the carrier main frame, a power system embedded in the outer shell and within the carrier main frame, a gripping system disposed below the carrier main frame, and an interactive system disposed in front of and above the main frame. While realizing basic functions, the present invention also makes innovative designs in the robot architecture, optimizing the robot's performance in manipulation, control, perception, and real-time performance, and has high engineering application value and good engineering application prospects.

The application discloses a microgravity simulation simulation dynamic anchor point seat rope-driven parallel robot, relates to the field of rope-driven parallel robots, and comprises an outer frame, at least two layers of track modules are arranged in the outer frame, a plurality of dynamic anchor point seats are slidably connected on the track modules, at least four groups of dynamic anchor point seats are arranged on the track modules in the same layer, and the plurality of dynamic anchor point seats are connected with long-arm spread mechanical arms through ropes. Through the structure arranged in the application, the dynamic anchor point seat rope-driven parallel robot has super-redundant degrees of freedom and sufficient working space, can be applied to ground microgravity simulation simulation of the long-arm spread mechanical arm, a plurality of dynamic anchor point seats are installed on the track, the dynamic anchor point seats are connected with upper lifting points of the mechanical arms through the ropes, and each section of the rope can be used to drive the mechanical arm.

The invention discloses a long-distance large-capacity SF6 gas pipeline bus total immersion liquid cooling microgravity supporting structure and method, and the structure comprises a total immersion environment system which comprises a total immersion environment system housing, an SF6 pipeline bus, a water body, and a plurality of radial limiting supporting structures. The SF6 pipeline bus and the radial limiting support structure are arranged in a closed cavity formed by the shell of the total immersion environment system, the radial limiting support structure is sleeved outside the SF6 pipeline bus, and the radial limiting support structure can move back and forth in the total immersion environment system; the space between the outer wall of the SF6 pipeline bus and the inner wall of the full-immersion environment system shell is filled with water, and the full-immersion water charging and discharging device is mounted on the full-immersion environment system shell; the shell of the pipeline bus is liquid-cooled, so that the cooling capacity of the pipeline bus is greatly improved; the radial limiting and supporting structure can freely slide in a full-immersion environment system, accumulative stretching and deformation of a long-distance and long vertical pipeline bus are achieved, and the problems of high-fall supporting and stretching of the pipeline bus are solved.

The invention discloses a high-precision gravity unloading device capable of achieving three-dimensional motion, and belongs to the field of gravity unloading. The device comprises an unloading truss assembly, a first longitudinal guide rail assembly, a second longitudinal guide rail assembly and two independent moving units, wherein the first longitudinal guide rail assembly and the second longitudinal guide rail assembly are different in installation height. Each set of motion unit comprises a longitudinal tackle assembly slidably connected to the longitudinal guide rail assembly, a transverse guide rail assembly bridged between the longitudinal guide rail assemblies, a transverse tackle assembly slidably mounted on the transverse guide rail assembly, a fixed pulley assembly fixedly connected to the transverse tackle assembly, and a lifting rope crossing the fixed pulley assembly to connect the tested rotating mechanism and the counterweight. Two sets of independent movement units are arranged, and the structural interference of a plurality of unloading points in the longitudinal opposite staggered movement process is avoided through the arrangement of longitudinal guide rails which are arranged in a high-low staggered mode. By optimizing the layout of the fixed pulley and the counterweight, three-dimensional high-precision dynamic follow-up unloading of a complex double-shaft rotating mechanism in a large rotating angle range is realized, and reliable microgravity environment simulation is provided for ground testing of aerospace equipment.

The invention provides a low microgravity environment simulation and vibration test device and method.In the device, a tested piece mounting and positioning assembly is connected with a structure supporting and guiding assembly through a linear guide rail, a tested piece is guided through movement through the guide rail, and the tested piece mounting and positioning assembly is connected with a movement excitation assembly; the tested piece is driven to reciprocate along with an excitation signal generated by the excitation control assembly; the test method comprises the following steps: measuring the mass of a tested piece before testing; the motion excitation assembly is controlled to move at a constant speed, and thrust of the motion excitation assembly is measured; adjusting the inclined plane angle of the structure support guide assembly, so that the gravity component of the tested piece along the inclined plane is equal to the gravity in the low microgravity environment; the excitation control assembly controls the motion excitation assembly to move, and a vibration characteristic test of the tested piece is carried out. The problems that an existing low microgravity environment simulation method is high in cost, and broadband vibration excitation is not easy to achieve can be solved.

The invention discloses a flying robot motion planning method and system in a microgravity environment and a storage medium, relates to the field of robot automation, and aims to solve the problem that an efficient, accurate and lightweight flying robot motion planning method is lacked for a dynamically changing microgravity environment. Comprising the following steps: step S100, planning an initial optimal path from a starting point to an end point in an ideal environment assuming that no obstacle exists, and recording key positions interacting with the obstacle in the path to form a crossing point sequence; step S200, performing ray tracing along a vertical direction of a crossing point connecting line, searching a barrier-free area in a path, marking the barrier-free area as a candidate node, dynamically adjusting the node by introducing a feedback mechanism, and constructing a topological graph through iterative optimization; and S300, performing path optimization in combination with the search A and kinematics constraint, and introducing a heuristic function to improve the path search efficiency, thereby obtaining the optimal path of the motion of the flying robot in the microgravity environment.

To achieve efficient cleaning under a microgravity environment.SOLUTION: A cleaning device cleans an object to be cleaned by discharging cleaning water stored in a tank 20 through a hose 21 out of pipes 11, 12 provided in a discharge section 10. In order to prevent the discharged water from dispersing in a zero-gravity environment, the surroundings of the object are covered with a cover 40, and the discharged water is sucked with a suction device 32 and collected in a collection tank 30 through a hose 31. The discharge section 10 includes two pipes 11, 12 arranged in parallel for discharging water and has a swirl flow generation mechanism that imparts a circumferential velocity component to the main water flow so that the water can be discharged as a swirl flow and that rotates the pipes 11, 12 around their axes to generate the swirl flow. This enables the generation of swirl flow even under a microgravity environment, thereby improving cleaning efficiency.SELECTED DRAWING: Figure 1

The invention discloses a control method and system of a microgravity ground test system and a storage medium, relates to the technical field of robot control, and aims to solve the problem that pose tracking errors are accumulated due to the fact that an existing suspension method is difficult to adapt to real-time compensation requirements under high-frequency dynamic motion. Comprising the following steps: step S100, acquiring image information through a binocular camera, correcting radial distortion and tangential distortion of an image acquired by the binocular camera, and detecting target motion attitude and position information by adopting an AprilTag visual reference library; and S200, on the basis of the motion posture and position information obtained through detection, closed-loop control is conducted on horizontal motion of the robot through three-loop control of a current loop, a speed loop and a position loop, a dynamic distortion compensation mechanism is introduced to reduce the influence of motion of the robot or external disturbance, and the motion speed is controlled through an inter-frame difference method. According to the invention, various complex and dynamic tasks of the robot can be stably and reliably completed in a matched manner.

The application provides a device and method for simulating microgravity fluid on the ground by using motion method, and belongs to the field of ground microgravity simulation. The application comprises a microcomputer control system, a fluid carrier U-shaped pipe, a gas source power equipment and a sensor detection system. The pipe opening of the U-shaped pipe is upward and is fixed on the ground near by a support. The two ends of the pneumatic pipeline in the gas source power equipment are connected with the two vertical sections of the U-shaped pipe through rubber hoses. The sensor detection system is used for detecting and collecting the motion parameters of the liquid fluid in the U-shaped pipe. The sensor detection system is connected with the microcomputer control system, and the microcomputer control system is used for controlling the gas source power equipment. The application adopts the motion method to make the liquid fluid move in the U-shaped pipe in a set rule. The acceleration of the liquid fluid in the motion process is consistent with the gravity field by the microcomputer control system, so as to eliminate the gravity influence between the micro elements of the liquid fluid and achieve the weightlessness.

This invention belongs to the field of special robots and intelligent control, and discloses a method for autonomous robot operation in the space environment. This method addresses the challenge of high-precision and stable autonomous operation of robots in the complex lighting, communication-restricted, and microgravity environment of space. It achieves high-precision acquisition of the pose and motion state of non-cooperative targets by constructing a multi-sensor fusion stable perception mechanism adapted to the extreme space environment; it employs an edge computing-driven task autonomous planning strategy to achieve efficient autonomous decision-making and rapid response in space-based operations under communication-restricted conditions; and it proposes a force-position cooperative control method based on learning perturbation compensation to ensure high-precision and stable execution of space-based operations in a microgravity environment. The method proposed in this invention effectively improves the success rate of space robot operations and contributes to promoting the large-scale application of space manufacturing.

The application discloses a kind of spacecraft ground microgravity simulation platform dynamics modeling and mass balancing method, belong to the technical field of space technology.The application includes the following steps: according to the component assembly relationship of spacecraft ground microgravity semi-physical simulation platform, distinguish each component and component group;According to the condition of each component and component group and whole, respectively, each component and component group are established coordinate system;Dynamics derivation is carried out based on coordinate system, and dynamics model is obtained;The complete dynamics model of ground simulation platform is obtained by analyzing dynamics model by Lagrange method;The complete dynamics model of ground simulation platform is simplified by hypothesis, and simplified dynamics model is obtained;Mass balancing is carried out to simplified dynamics model, and the spacecraft ground microgravity semi-physical simulation platform of approximate quasi-zero stiffness is obtained.The introduction of pivot system makes the system reach approximate quasi-zero stiffness, and then reconstructs microgravity environment on the ground.

The invention discloses a drag-free control verification system using a high microgravity environment, and belongs to the technical field of space tests. Based on the high microgravity environment of the freight spaceship, the non-dragging control verification platform is constructed by using the cargo compartment channel space, the non-dragging motion relative to the freight spaceship body under the weak acceleration is observed for a long time, and the non-dragging control key technology is verified in orbit in a low-cost mode. And a technical foundation is laid for major projects such as space gravitational wave detection and satellite gravitational field measurement in China.

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.

The application discloses a microgravity simulation device and method, and relates to the technical field of ground microgravity simulation, and aims to solve the problems of high cost and short experiment duration in the prior art. The microgravity simulation device comprises a rotating driving mechanism, at least one floater and at least one container for containing a liquid medium. The rotating driving mechanism has at least one power output shaft, each floater is arranged on a corresponding power output shaft, the floater floats on the liquid medium, the center of mass of the floater is located above the liquid medium, and the distance between the geometric center of the floater and the center of mass of the floater is greater than 0. The method of the microgravity simulation device is used for simulating microgravity. The microgravity simulation device and method provided by the application are used in microgravity simulation.