A study of a gravity compensation system for the spacecraft prototype test by using multi-robot system

摘要

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.