Research On Rotary-Arm Micro-Gravity Simulation Device Of Space Manipulator

The real working environment for space manipulator is in outer space 3-dimension microgravity environment and the space manipulator is designed to meet the need of the outer space gravity-free environment, but the whole research that works for has to be done on the ground. So the microgravity simulation research for space manipulator, which meets the request of compensating the microgravity and shifting the space manipulator as a target, becomes one of the significant aspects of ground experiment.The suspending point and the range of the space manipulator is according to the technical index and the experience of others, and then make the final scheme. The optimizer of the numerical value for suspension force is compiled and proved by ADAMS. Gravity compensation precision is analyzed, and the result indicates that this scheme can achieve the requirements of space manipulator.The integrated theory design of the device is proceeded based on the 3-freedom rotary-arm microgravity simulation with the suspending bar and the special bearing, which can provide different suspension as well as trailing the moving of the space manipulator simultaneously. The microgravity analog device is devised in detail with Pro/E 3-D solid model of every component, and the static analyses for the main components is proceeded.The kinematic and dynamical model for the system is made up by microgravity simulation device and space manipulator, and the system is analyzed by ADAMS using four different motion modalities schemes. The results turn out that the bending torque and counter torque are less than P N?m and Q N?m respectively, which means that the system can be used in microgravity simulation.