Innovative 6-DOF Platform for Testing a Space Robotic System to Perform Contact Tasks in Zero-Gravity Environment.

摘要

The specific aim of the project was to design and make a demonstration prototype of an innovative zero-gravity 6 degrees of freedom (6- DOF) test platform for experimentally studying and verifying the control technology for optimal space contact tasks and other future research along the same line. In the project, we designed a zero-gravity space robotics and satellite test platform based on a spring-based passive gravity compensation technology. The basic technology was developed by an NMSU multidisciplinary research team led by Dr. Ma with the support of a National Science Foundation (NSF) grant. This new satellite test platform is an actual application of the underlying gravity compensation technology. The major advantages of the technology are: it can passively compensate any amount of the gravity force as needed (adjustable from 0% to 100% compensation) in a full 3D or 6-DOF space, so that the tested object such as a satellite mockup attached to the platform will be completely free floating and rotating in all axes just like in the real space environment. Since the gravity compensation is done passively, the resulting system is reliable, inexpensive, easy to maintain and easy to operate. A hardware prototype of the platform has been built.