Design and Analysis of Suspension Scheme for Space Manipulator Low-Gravity Test

Abstract:

In this paper, a low gravity experimental scheme with weight-balanced suspenders is proposed to solve the problem of the low-gravity environments simulation for the space manipulators (SM), in which the optimal location of the hanging point can be obtained from theoretical analysis. In addition, according to low gravity experiment requirement and motion path of the SM, the kinematical equation in terms of D-H method is built, the suspender adaptability under horizontal and inclined conditions are studied respectively using MATLAB, and a solution for suspender interference is proposed and verified. The test results confirmed the validity of the proposed scheme.

• Periodical: Advanced Materials Research (Volume 940)
• Pages: 321-326
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.940.321
• Online since: June 2014
• Authors: Wei Feng*, Wang Min Yi, Fan Wei Meng, Xiao Peng Shen, Xiao Dong Song
• Keywords: D-H Model, Low-Gravity Simulation, Space Manipulator, Suspenders

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