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Abstract
During the construction of the space station, the cabin is driven by the transposition manipulator in space. Because of the large mass and volume of the cabin, which is not less than 22 tons, there will be emerge a large moment of inertia in the transposition process, which is not less than . Therefore, a full physical experimental method is designed to simulate the moment of inertia of the transposition manipulator in space on the ground. In this paper, the three-dimensional model of the whole physical loading method is built, and the dynamic model is built by using the Lagrange equilibrium method. The minimum values of the moment of inertia applied by this method to the shoulder joint and the wrist joint of the space manipulator are calculated as and respectively. The simulation through Adams show that the error of the method to the shoulder joint and the wrist joint of the manipulator is increased by 4.4% and 5.59% respectively compared with that of the dynamics, that is to say no matter in numerical value or error, all physical experiment methods meet the requirements of ground test.
Highlights
China plans to build and operate the near earth space station in 2022 [1]
The motion refers the command will drive the motor movement installed at the shoulder joint and wrist joint of the space mechanical arm, and the space rotation mechanical arm installed on the core cabin will complete the capture of the experimental cabin under the corresponding command
By comparing the electric inertia loading method based on the motor, the semi physical moment of inertia loading method based on the gear and the semi physical moment of inertia loading method based on the flywheel, a kind of moment of inertia loading method based on the inertia simulation mechanism is proposedIt is an all physics experiment method
Summary
China plans to build and operate the near earth space station in 2022 [1]. The space station is a "building block" assembly structure, which is composed of core module, experimental module I, experimental module II, cargo spacecraft and manned spacecraft [2](see Fig. 1-1 ). The motion refers the command will drive the motor movement installed at the shoulder joint and wrist joint of the space mechanical arm, and the space rotation mechanical arm installed on the core cabin will complete the capture of the experimental cabin under the corresponding command. Because of the large volume and mass of the cabin, it is difficult to simulate such a large moment of inertia on the ground.For this reason, Xu Huamin of Tsinghua University used the method of weight guide to solve the problem of moment of inertia under the condition of inertia[8] This method proposed a new method for solving the moment of inertia, but did not design the moment of inertia model.Shen Wenbo of AVIC uses an aerocentrifuge to realize large inertia loading[9]. Based on the comparison and analysis of the advantages and disadvantages of the existing large moment of inertia loading methods, a full physical experimental method is proposed for the ground experiment of the space rotation manipulator
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