叶平, 何雷, 宋爽, 孙汉旭. 空间机械臂地面微重力混合模拟方法研究[J]. 机器人, 2013, 35(3): 299-305,312.DOI: 10.3724/SP.J.1218.2013.00299.
YE Ping, HE Lei, SONG Shuang, SUN Hanxu. A Hybrid Method for Microgravity Simulation of Space Robotic Manipulator. ROBOT, 2013, 35(3): 299-305,312. DOI: 10.3724/SP.J.1218.2013.00299.
According to structural characteristics of a space robotic manipulator with 7 DOFs (degrees of freedom) which can be used for space station assembly, a hybrid method for microgravity simulation for the 7-DOF manipulator on the ground is proposed. The presented method is a combination of air-bearing support and static balancing. Gravity of the middle segment of the 7-DOF manipulator is compensated by air-bearing support. And two static balancing mechanisms are designed to compensate the gravity of both ends of the 7-DOF manipulator, i.e. the shoulder and wrist, respectively. The microgravity ground-based facility using the hybrid method allows the 7-DOF manipulator to perform movement in three dimensions. Therefore, in the simulated microgravity environment, the positioning accuracy of the end-effector of the 7-DOF manipulator can be measured, and experiments of target capture also can be carried out on the ground. The microgravity ground-based facility of the 7-DOF manipulator is modeled with ADAMS, and its performance is studied. Simulation results demonstrate the feasibility of the proposed microgravity simulation method for the 7-DOF space robotic manipulator.
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