空间机械臂地面仿真与测试系统设计

doi:10.3969/j.issn.1674-1579.2017.05.012

Abstract

Abstract: Abstract：A ground simulation and testing system is designed for the testing task of a 7DOFs space robot on a satellite. The designed system has two functions. First, it can be used for halfphysical simulations with the space robot simulator, in which way the electronic interfaces of the controller and the functions of the control software can be tested. Besides, it can also be used for fullphysical tests to verify the onorbit tasks, and a hanging equipment is utilized to deload the gravity of the space robot. Using the proposed testing system, the ground testing and verification tasks of the space robot are finished. By now, the satellite is launched, and the space robot finishes its onorbit experiments successfully. The proposed ground simulation and testing system can also be applied for testing other space robots on ground.

Key words: Keywords：space robot, halfphysical simulations, fullphysical tests, system design

CLC Number:

中图分类号： V448

XIAO Shuai, LIU Rui, RAO Wei-Dong. Design of Ground Simulation and Testing System for Space Robot[J]., 2017, 43(5): 73-78.

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URL: http://journal01.magtech.org.cn/Jwk3_kjkzjs/EN/10.3969/j.issn.1674-1579.2017.05.012

http://journal01.magtech.org.cn/Jwk3_kjkzjs/EN/Y2017/V43/I5/73

References

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Design of Ground Simulation and Testing System for Space Robot

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