Passive-Rod Suspension for Ground Simulation of Space Manipulators
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Solution Overview
Problem
Current ground simulation systems for on-orbit manipulations are limited by short experimental time, low spatial dimension, and low dynamic performance, failing to fully simulate the microgravity environment and achieve the same suspension state as in space.
Innovation Solution
A ground simulation device and method utilizing a dual-arm robot, a suspension device with passive rods, and a simulation platform, where the target object is suspended using passive rods and motors to overcome gravity, and a reinforcement learning model adjusts the suspension state in real-time to mimic space conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional ground simulation systems (free falling, parabolic flight, neutral buoyancy) are used to simulate microgravity, then gravity impact is partially overcome, but experimental time is short, spatial dimension is limited, and dynamic performance is low
Solution Approach 1:
The patent uses a suspension device with passive rods and motors to counteract gravity's effect on the target object. The passive rods are movably connected to a fixed post, and motors suspend the target object, creating a counterbalance to gravitational force. This allows the system to maintain a simulated microgravity environment continuously without the time limitations of free-fall or parabolic flight methods.
Solution Approach 2:
The suspension device incorporates passive rods that can move freely under external forces while maintaining suspension. The system dynamically adjusts to external forces applied to the target object, allowing realistic simulation of space manipulation dynamics. The passive rods enable the target object to respond naturally to applied forces, improving dynamic performance compared to rigid suspension systems.
2Reliability
If traditional ground simulation systems are used, then gravity impact is partially overcome, but the object cannot reach the same suspension state as in space
Solution Approach 1:
The motors in the suspension device actively counterbalance the weight of the target object, maintaining it in a suspended state that closely replicates the weightless condition in space. This anti-gravity approach allows the target object to achieve a suspension state equivalent to space environment, improving simulation reliability.
Solution Approach 2:
The passive rods act as intermediaries between the fixed post and the target object. They transmit external forces to the target object while maintaining its suspended state, enabling realistic force transmission without direct mechanical connection. This intermediary mechanism preserves the suspension state accuracy while isolating the target object from complex support structures.
3Ease of operation
If passive rods with rotating mechanisms are used in the suspension device, then the target object can move under external force achieving similar suspension effect to space, but the device structure becomes more complex
Solution Approach 1:
The passive rods incorporate rotating mechanisms that allow the rods to pivot and rotate freely in response to external forces applied to the target object. This dynamic capability enables the target object to move naturally in three-dimensional space under external forces, replicating the movement freedom experienced in space, while the passive nature of the rods keeps the control system simple.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system effectively suspends and moves the target object to replicate the microgravity environment, providing a reliable and safe simulation of on-orbit manipulation, overcoming the limitations of existing systems by achieving a similar suspension effect to that in space.
Implementation Method 1
provides the passive rods on the suspension device and suspends the target object to the passive rods, thus overcoming the gravity of the target object
Data Source
AI summary
A ground simulation device and method for an on-orbit manipulation of a space manipulator is provided. The ground simulation device includes: a dual-arm robot, configured to simulate the space manipulator operating a target object; a suspension device, including a fixed post and passive rods, where the passive rods are movably connected with a top end of the fixed post, and the target object is suspended to the passive rods; and a simulation platform, configured to fix the dual-arm robot and the suspension device thereon. The ground simulation device provides the passive rods on the suspension device and suspends the target object to the passive rods, thus overcoming the gravity of the target object. In addition, the passive rods can drive the target object to move under an influence of an external force, achieving a similar suspension effect to that in space, and providing a desired, safe, and reliable implementation effect.