	US 11,938,623 B2
	Ground simulation device and method for on-orbit manipulation of space manipulator
Gan Ma, Shenzhen (CN); Ziqi Xu, Shenzhen (CN); Zixin Lin, Shenzhen (CN); Zihao Jiao, Shenzhen (CN); Zhiming Chen, Shenzhen (CN); and Wenwei Zhang, Shenzhen (CN)
Assigned to Shenzhen Technology University, Shenzhen (CN)
Filed by Shenzhen Technology University, Shenzhen (CN)
Filed on Mar. 3, 2023, as Appl. No. 18/177,777.
Claims priority of application No. 202210209874.2 (CN), filed on Mar. 3, 2022.
Prior Publication US 2023/0278239 A1, Sep. 7, 2023
Int. Cl. B25J 19/00 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B64G 4/00 (2006.01)

CPC B25J 19/0095 (2013.01) [B25J 9/0087 (2013.01); B25J 9/163 (2013.01); B25J 9/1682 (2013.01); B64G 2004/005 (2013.01)]

10 Claims

1. A ground simulation device for an on-orbit manipulation of a space manipulator, comprising:

a dual-arm robot, configured to simulate the space manipulator operating a target object;

a suspension device, comprising a fixed post and passive rods, wherein the passive rods are movably connected with a top end of the fixed post, and the target object is suspended to the passive rods; and

a simulation platform, configured to fix the dual-arm robot and the suspension device thereon;

wherein the fixed post is hollow inside, and the fixed post is provided therein with four motors; the target object is provided with four suspension points coupled with the four motors, respectively; suspension ropes are provided between the suspension points and the motors; and

the motors are configured to control the suspension ropes to adjust an up-down position of the target object, and control up-down positions of the suspension points to adjust a deflection angle of the target object relative to XY axes;

the simulation platform comprises two automated guided vehicles (AGVs), wherein the AGVs are configured to fix the dual-arm robot and the suspension device, respectively; and

a manipulator of the dual-arm robot comprises a connecting rod, and the manipulator of the dual-arm robot is further provided with a motor for driving the manipulator; and the dual-arm robot is further configured to adjust an output torque of the motor according to a mass of the connecting rod, a gravity vector of a base of the dual-arm robot, and a position vector of a centroid of the connecting rod relative to the base of the dual-arm robot, to compensate a gravity of the manipulator,

wherein the simulation platform is further configured to simulate the space manipulator with the dual-arm robot, and compensate the gravity of the manipulator of the dual-arm robot, the compensating of the gravity comprising:

accumulating all gravity compensation values to acquire a total gravity compensation value; and

adjusting, based on the total gravity compensation value, the output torque of the motor for driving the manipulator of the dual-arm robot;

wherein the total gravity compensation value acquired by the acquiring the gravity compensation value of each connecting rod based on the mass of the connecting rod, the gravity vector, and the position vector, and the accumulating all the gravity compensation values is expressed as follows:

M_gc=Σ₁ⁿ{^brⁱ}×{^bg}(m_i), wherein, m_idenotes a mass of an i-th connecting rod; ^bg denotes the gravity vector of the base of the dual-arm robot ^br_idenotes a position vector of a centroid of the i-th connecting rod relative to the base of the dual-arm robot; and M_gcdenotes the total gravity compensation value.