The invention discloses a spacecraft mechanism ground unfolding zero-gravity simulation method and system. The method comprises the steps that the relative pose relation between a robot and an unfolding mechanism is obtained; based on the relative pose relation between the robot and the unfolding mechanism, the movement path of a corresponding lifting point when the robot lifts is determined; the lifting force of the robot is determined; and according to the motion path of the corresponding lifting point when the robot lifts and the lifting force of the robot, the unfolding mechanism is controlled to carry out unfolding motion, and the robot is controlled to carry out following unloading, so that the on-orbit zero-gravity environment is simulated. According to the scheme, the movement path and the lifting force of the lifting point can be accurately determined, the robot is pertinently controlled to carry out following unloading according to the movement path and the lifting force, the robot can conveniently lift the movable part of the opening mechanism upwards, the gravity of the part is balanced by controlling the lifting force, zero-gravity simulation of the part is achieved, and the lifting efficiency is improved. The time is greatly shortened, and the method is suitable for the conditions of limited spacecraft development space and tense progress.
本申请公开了一种航天器机构地面展开零重力模拟方法和系统,该方法包括:获取机器人与展开机构之间的相对位姿关系;基于机器人与展开机构之间的相对位姿关系,确定机器人托举时对应的托举点的运动路径;确定机器人托举力;根据机器人托举时对应的托举点的运动路径和机器人托举力,控制展开机构展开运动并控制机器人进行跟随卸载,以模拟在轨的零重力环境。该方案能够精准确定出托举点的运动路径和托举力,根据运动路径和托举力,有针对性地控制机器人进行跟随卸载,便于通过机器人对开展开机构的活动部件向上进行托举,并通过控制托举力平衡部件的重力,实现对部件的零重力模拟,极大地缩短了时间,适用于航天器研制空间有限、进度紧张的情况。
Ground unfolding zero-gravity simulation method and system for spacecraft mechanism
航天器机构地面展开零重力模拟方法和系统
2024-01-05
Patent
Elektronische Ressource
Chinesisch
IPC: | B64G Raumfahrt , COSMONAUTICS |
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