Experimental study on the multi-dimensional microgravity simulation system for manipulators

摘要

Designing a system to simulate multidimensional movement of complex spatial mechanisms under microgravity condition is the focus of experimental research on ground simulation of manipulator in microgravity environment. A “multidimensional intelligent air-bearing” is designed, which consist of a vertical lifting system, a PID controller, a servo motor and an air-bearing. It breaks the limitation that traditional air-bearing can only realize zero-gravity simulation of the planar movement and realizes microgravity simulation of vertical lifting movement. Experiments are carried out, and results show that during the multidimensional movement of spatial mechanisms, the designed system can provide a support to counteract the gravity real timely and realize the simulation of spatial microgravity environment accurately.