空间机械臂三维全物理地面试验方法研究  

Study on Full-physical Ground Experiment Test Method for Space Manipulator 3D Movement

作　　者：曾磊[1] 陈明[1] 朱超 刘延芳[2] 张昕蕊 金俨[1] 胡成威[1] 刘宾[1] ZENG Lei;CHEN Ming;ZHU Chao;LIU Yanfang;ZHANG Xinrui;JIN Yan;HU Chengwei;LIU Bin(Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications,Beijing Institute of Spacecraft System Engineering,Beijing 100094,China;School of Astronautics,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]北京空间飞行器总体设计部空间智能机器人系统技术与应用北京市重点实验室,北京100094 [2]哈尔滨工业大学航天学院,哈尔滨150001

出　　处：《载人航天》2021年第3期359-366,共8页Manned Spaceflight

基　　金：国家自然科学基金(U1737207、11672093、51705109);黑龙江省博士后科研启动金(LBH-Q19102)。

摘　　要：空间机械臂为七自由度冗余机械臂,在轨操作任务和对象多样,空间运动轨迹复杂,性能受重力影响明显;地面模拟零重力环境、支持空间机械臂三维运动一直是地面试验的难点。提出了一种空间机械臂零重力模拟试验方法,利用气足悬浮+悬吊的方法实现了空间机械臂三维空间、七自由度运动的全物理地面模拟,地面试验验证了此零重力模拟方法的有效性。The Space Manipulator has a redundant 7-DOF and undertakes complex space trajectories.It can perform various on orbit operation tasks and deal with different objects.Its performance is sensitive to gravity,however,it is quite difficult to simulate the micro-gravity on the ground and to support the 3D movement of the space manipulator during ground test.In this paper,a micro-gravity simulation method was proposed for the space manipulator which realized the ground full-physical experiment simulation of three-dimensional and 7-DOF motion of space manipulator using the air feet suspension and overhanging.The ground test of space manipulator demonstrated the validity of the micro-gravity simulation method.

关 键 词：空间机械臂 全物理 零重力 三维运动 试验方法 

分 类 号：V416.5[航空宇航科学与技术—航空宇航推进理论与工程]