Unloading ratio of a zero-g simulation system based on the friction of a space manipulator

TIAN Sihui; TANG Xiaoqiang; DAI Hailin; LI Yuqi

doi:10.16511/j.cnki.qhdxxb.2019.26.024

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Journal of Tsinghua University(Science and Technology) ›› 2019, Vol. 59 ›› Issue (10) : 831-837. DOI: 10.16511/j.cnki.qhdxxb.2019.26.024

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Unloading ratio of a zero-g simulation system based on the friction of a space manipulator

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Abstract

Space manipulators need to pass tests in zero-g simulation systems before being used in orbit. The unloading ratio of zero-g simulation systems was evaluated here using a simulation manipulator with force and torque sensors. A dynamic model of a seven-joint manipulator was then developed for operation in a zero-g environment. The joint torques were calculated and used as the evaluation index. A continuous friction model was used to identify the friction parameters for the system with the friction characteristics then modified so that the predicted torques matched the experimental data. The results show that the theoretical model can accurately predict the torques and the space manipulator model parameters without sensors when operating in a zero-g environment to guarantee the safety of the experiments.

Key words

space manipulator / zero-g simulation system / joint torques / friction

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TIAN Sihui, TANG Xiaoqiang, DAI Hailin, LI Yuqi. Unloading ratio of a zero-g simulation system based on the friction of a space manipulator[J]. Journal of Tsinghua University(Science and Technology). 2019, 59(10): 831-837 https://doi.org/10.16511/j.cnki.qhdxxb.2019.26.024

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