Ground-based simulation of space manipulators using test bed with suspension system

Abstract

An experimental system simulating dynamic behavior of space manipulators is constructed for the purpose of technological demonstration of space robots and evaluation of their dynamic features. The system consists of a space robot with dual manipulators, a suspension system, and a control system. The manipulators are hung by wires at each joint of the manipulators to cancel the effect of the ground gravitational force. The tension of the wires is controlled to be constant to simulate on the ground the dynamic behavior of the manipulators in space. Dynamics of the two-link manipulators is analyzed experimentally employing the present ground facility through inspection of their dynamic features in space. The motion of the manipulator is restricted to a vertical plane as the first step of study. The outline of the experimental system is also briefly introduced. The results of the numerical simulation and the experiments show sufficient capability of the on-ground simulation to study dynamic behavior of the manipulator in space.