Research On Simulation Of Space Manipulator Under Compound Force-Field

With the development of space technology, the space manipulator is widely used in space. The manipulator plays an irreplaceable role in space activities, can also complete installation, maintenance, recycling and other tasks instead of the astronauts. Before launching into space to practical work, the manipulator needs to finish a large of number of experiments on the ground. Therefore, we need to set up the ground microgravity simulation experiment system for space manipulator testing. In this article, we study on the lunar rover manipulator to finding out the manipulator’s mechanical properties in the ground simulation experimental system with the compound force field environment and establishing a systematic method of evaluating ground microgravity simulation accuracy.Summarizing the domestic and foreign research current situation of the development of space manipulator, we determine the method of the microgravity simulation experiment of manipulator on the ground. We put forward the ground microgravity experiment system with a balance beam structure.Based on D-H method, we establish mathematical model of the manipulator. Solved the kinematics equation of manipulator, we analyze the movement of the suspension point and determine the microgravity experiment system scheme is feasible. Based on the Lagrange method, the dynamics model of manipulator is established. Solve the dynamics equation of the mechanical arm in the gravitational field, vacuum environment, and also the compound force field. We use the MATLAB software to work out the moment of each joint.Use SolidWorks software to establish simplified model of the mechanical arm. The model is imported into the ADAMS to establish the mechanical system, after that, we will import mechanical system into the MATLAB/Simulink through ADAMS/Control plug-in to establish the MATLAB&ADAMS simulation system. Then we can achieve interactive simulation of control system and mechanical system. The manipulator dynamics simulation is finished in gravity field environment, space environment and also the compound force field environment. We compare the results of simulation and the results of mathematical model calculation, analysis the microgravity simulation experiment system of the influence of compound force field on the manipulator dynamics characteristic.