The Passive Lunar Mobile Robot Gravity Compensation Study

To simulate the movement of the mobile robot in micro-gravity environment, the gravity of the mobile robot shall be compensated. At present, the existing gravity compensation technology for mobile robot such as equivalent mass method, can’t be used to test the movement of the whole robot and some method such as hanging counterweight method has a complex system and a lower stability. Based on the present situation, this paper presents a gravity compensation of unpowered passive technology that does not require an external power supply and control systems, using a spring elastic potential energy decrease of gravitational potential energy of the robot, which has a simple structure, safe and good stability and other characteristics. This technology can be used for a system which can simulate micro-gravity environment for lunar mobile robot and it can meet the need to test the movement of the mobile robot.This article, focusing on the passive lunar mobile robot gravity compensation study has carried on the simulation analysis and experimental research. The main contents of this paper includes, design of the micro-gravity environment simulation system, the principle and design analysis of the gravity compensation mechanism, adaptive gravity compensation method, the gravity compensation mechanical design and finite element analysis, prototype design and experimental analysis of the simulation system.This paper is expected to reach these goals, study the technology which can meet the need of the robot’s six-dimensional movement, complete the simulation of all kinds of movement which the mobile robot may meet; optimize the system structure based on the dynamics analysis; complete the adaptive gravity compensation system, develop the micro-gravity environment simulation institutions, realize the gravity at the same time increase the effect.