摘要
针对空间大型机械臂地面测试验证面临的覆盖性、充分性和有效性等难题,对空间大型机械臂测试验证方案进行研究,提出了基于半物理仿真与物理验证相结合的测试验证系统,解决了单一测试验证不完全的问题。该方案根据不同测试验证目的和策略,设计了半物理仿真测试、桌面软连接测试、2维气浮台测试和3维悬挂台7自由度测试4个测试验证阶段,具有验证模式全、动态验证充分的特点。对空间站大型机械臂的测试验证结果,表明文章提出方案的有效性和验证的合理性。
It is difficult to verify a large space manipulator in ground environments with full coverage and availability.The integrated testing and verification scheme of a large space manipulator is investigated,and an integrated testing system is designed.The system combines physical test and semi-physical simulation,uses four stages including semi-physical simulation testing,desktop system testing,2-dimension physical testing on air-floating platform and 3-dimension and 7 DOF testing in suspending platform,and provides multiple sufficient and dynamic verifications.The scheme described in this paper is applied to the large space manipulator of China space station and is verified to be valid and useful.
作者
胡玉茜
刘宾
吴志红
周永辉
张思博
HU Yuqian;LIU Bin;WU Zhihong;ZHOU Yonghui;ZHANG Sibo(Beijing Institute of Spacecraft System Engineering,Beijing 100094,China)
出处
《航天器工程》
CSCD
北大核心
2021年第4期151-158,共8页
Spacecraft Engineering
基金
国家重大科技专项工程。
关键词
空间大型机械臂
地面测试验证
半物理仿真验证
2维气浮台验证
3维悬挂台验证
large space manipulator
ground testing and verification
semi-physical simulation verification
2-dimension verification on air-floating platform
3-dimension verification in suspending platform
作者简介
胡玉茜,女,硕士,高级工程师,研究方向为空间智能机器人在轨操作与测试验证技术。Email:1846916352@qq.com。
