基于悬吊法和气浮法的多自由度微重力模拟展开试验系统研究

为满足三维空间展开机械臂在进行地面微重力模拟展开试验时对多维度、多自由度、高精度展开轨迹和高卸载效率的要求，通过对当前成熟的微重力模拟展开试验方法进行分析总结，设计了一种基于悬吊法和气浮法的多自由度微重力模拟展开试验系统。首先，对所设计的多自由度微重力模拟展开试验系统进行结构设计和原理分析；然后，将多自由度微重力模拟展开试验系统应用于某三维空间展开机械臂的三维轨迹微重力模拟展开试验。结果表明该三维空间展开机械臂展开过程稳定可靠，且微重力模拟展开试验系统对机械臂产生的气浮运动摩擦阻力、垂直方向阻力波动量和展开方向附加阻力均很小，卸载效率高于95%，满足高精度和高卸载效率的展开要求。研究结果可为多自由度空间可展开机构地面模拟展开试验系统的深入研究提供一定的参考。

Research on multi-degree-of-freedom microgravity simulation deployment test system based on suspension method and air flotation method

In order to meet the requirements of multi-dimensional, multi-degree-of-freedom, high-precision deployment trajectory and high unloading efficiency in the ground-based microgravity simulation deployment test of the three-dimensional space unfolding robotic arm, a multi-degree-of-freedom microgravity simulation deployment test system based on suspension method and air floatation method is designed through analyzing and summarizing the current microgravity simulation deployment test methods. Firstly，the structural design and principle analysis of the designed multi-degree-of-freedom microgravity simulation deployment test system was carried out. Then, the multi-degree-of-freedom microgravity simulation deployment test system was applied to a three-dimensional trajectory microgravity simulation deployment test of a three-dimensional space unfolding robotic arm. The results indicated that deploying process of the three-dimensional space unfolding robotic arm was stable and reliable, and the the air floatation friction resistance, the vertical resistance fluctuation and the additional resistance in the deployment direction generated by the microgravity simulation deployment test system to the robotic arm were small, and the unloading efficiency was higher than 95%, which met the requirements of high precision and high unloading efficiency. The research result can provide reference for the in-depth study of ground simulation deployment test system for multi-degree-of-freedom space unfolding mechanisms.