A space robot ground microgravity crawling test system is characterized in that the lower end of an outer frame is fixed on the ground, the upper end of the outer frame is provided with an X/Z-axis gravity compensation module and a Y-axis gravity compensation module, the upper surface of a centroid following module is fixedly connected with a suspension rope in the X/Z-axis gravity compensation module through a tension sensor, and the lower surface of the centroid following module is fixedly connected with a space crawling robot through a universal joint and a spherical hinge; the space crawling robot conducts a space microgravity crawling test on the target simulator, the target simulator is placed on the ground through universal wheels, and when the robot crawl, the target simulator moves in an X/Y mode and rotates around the Z axis under the counter-acting force, so that three-degree-of-freedom space microgravity simulation conditions are provided. Meanwhile, the X/Z-axis gravity compensation module and the Y-axis gravity compensation module can realize micro-gravity compensation autonomous following of the space crawling robot in the X/Y/Z directions, and the mass center following module can realize that the mass center of the robot is always on a suspension point extension line when the posture and the configuration of the robot are changed.
一种空间机器人地面微重力爬行试验系统,外框架下端固定在地面上,上端安装X/Z轴重力补偿模块、Y轴重力补偿模块,质心跟随模块上面通过拉力传感器与X/Z轴重力补偿模块中的悬吊绳固连,下面通过万向节和球铰与空间爬行机器人固连,空间爬行机器人在目标模拟器上进行空间微重力爬行试验,目标模拟器通过万向轮放置在地面上,当机器人爬行时,目标模拟器在反作用力下发生X/Y的移动和绕Z轴的转动,以此提供三自由度的空间微重力模拟条件。同时X/Z轴重力补偿模块、Y轴重力补偿模块可实现对空间爬行机器人X/Y/Z三个方向微重力补偿自主跟随,质心跟随模块可实现机器人改变姿态与构型时其质心始终在悬吊点延长线上。
Ground microgravity crawling test system for space robot
一种空间机器人地面微重力爬行试验系统
27.05.2025
Patent
Elektronische Ressource
Chinesisch
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