Modeling and Control of a Suspended Gravity Compensation System with Rigid-Flexible Coupling

Jia, Jiao; Jia, Yingmin; Sun, Shihao

doi:10.5954/icarob.2016.os5-4

Cited by 1 publication

(1 citation statement)

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“…A high-precision, high-efficiency, and fast-response low-gravity simulation system for the motion process of the multiple-degree-of-freedom space manipulator was designed by Sun [7] and can realize gravity unloading while ensuring that the movement of the manipulator is not disturbed. Jia [8] developed a gravity compensation system that adapts to objects of multiple sizes and arbitrary shapes, and established corresponding dynamic models and kinematic models. Furthermore, a novel rigid-elastic coupling suspension gravity compensation system was proposed by Jia [9] that significantly improved the compensation accuracy of the system.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of Low-Gravity Simulation Scheme for Mars Ascent Vehicle

Li,

Wang,

et al. 2024

Aerospace

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The sample carried back by the Mars Ascent Vehicle (MAV) is a potential flagship mission of deep space exploration in recent years. A low-gravity simulation experiment is an effective method and a necessary stage for verifying the performance of the MAV launch dynamic in Earth’s gravity. In this paper, the uniqueness of low-gravity simulation is illustrated by the classical pulley balance method for the high dynamic process of a test model of the MAV. Its movement direction is the same as the compensation force, which leads to the relaxation of the sling and the failure of the compensation force in traditional cable suspension. Here, three cable suspension schemes including an improved pulley balancing scheme based on a coordinate transformation scheme and based on a dynamic pulley group scheme are proposed. For the actual launch condition of the MAV, the motion state of the ascent under the schemes and the real Mars launch are compared, which proves the feasibility of the schemes. Among them, the improved pulley balancing scheme has the best gravity compensation effect, and the error between the average value and the required value is the smallest, only 1%.

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Section: Introductionmentioning

confidence: 99%