A study of a gravity compensation system for the spacecraft prototype test by using multi-robot system
A study of a gravity compensation system for the spacecraft prototype test by using multi-robot system
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多机器人系统航天器样机试验重力补偿系统研究
DOI：
10.1007/s10015-019-00568-4
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发表时间：
2019
影响因子：
0.9
通讯作者：
Tsujita Katsuyoshi
中科院分区：
文献类型：
--
作者：
Nakayama Ayana;Hirata Tomohiro;Tsujita Katsuyoshi
在本文的研究中，我们提出了一种基于多机器人的重力补偿系统，用于可展开结构航天器的地面试验。该系统的优点是成本低，通用性强。当机器人在节点处支撑梁时，我们可以期望使用所提出的系统来模拟重力作用下空间结构的自由振动。在这项研究中，首先实现了支持均匀的柔性振动梁，以验证所提出系统的性能。最后以某航天器可展开结构的实物模型为例，研究了该系统的性能。
In our research, we proposed a system using multi-robot as a gravity compensation system for a ground test of a spacecraft with a deployable structure. The advantage of the system is its low cost and versatility. When the robots support the beam at the nodes, we can expect to simulate the free vibration of the space structure using the proposed system under gravity. In this study, supporting a uniform, flexible beam with vibration was first implemented to verify the performance of the proposed system. Then we investigated the performance of the system applying to the mock-up model of a spacecraft with a deployable structure as a demonstration.