A large motion zero-gravity suspension system for experimental simulation of orbital construction and deployment

摘要

The design and implementation of a vertical degree of freedom suspension system is described which provides a constant force off-load condition to counter gravity over large displacements. By accommodating motions up to one meter for structures weighing up to 100 pounds, the system is useful for experiments which simulate orbital construction events such as docking, multiple component assembly, or structural deployment. A unique aspect of this device is the combination of a large stroke passive off-load device augmented by electromotive torque actuated force feedback. The active force feedback has the effect of reducing break-away friction by a factor of twenty over the passive system alone. The thesis describes the development of the suspension hardware and the control algorithm. Experiments were performed to verify the suspensions system's effectiveness in providing a gravity off-load and simulating the motion of a structure in orbit. Additionally, a three dimensional system concept is presented as an extension of the one dimensional suspension system which was implemented.