摘要
介绍一种设备少、控制简单的在地面进行空间操作过程模拟的演示方法——水浮法。设计水中的悬浮模型,使其浮力恰好抵消重力,并使其具备6自由度运动,用此模型来进行空间机器人抓取浮游目标的功能验证试验。分析流场中运动时流体对试验模型的静力学和动力学作用。提出如何进行质量体积配置以实现随遇平衡状态的问题,研究模型的最佳形状,提出如何解决附加质量问题,使得试验的相似比为1:1。理论研究和试验结果表明,在水中可以进行失重环境下的空间操作试验,条件简单,结果相似程度高,具有重要的应用价值。
Buoyancy method with less equipment and simple control, used in ground demonstration of space operation is presented. Because the model suspended in water where gravity is cancelled by buoyancy force has six degrees of freedom, buoyancy method looks like the best choice for function test of space robots which grasp the float objectives. The interaction of fluid field and the experimental model is analyzed. It is the problem of kinematics and dynamics. Then the problem how to scheme mass and volume for the model balance in any direction is presented. In addition, the drag fore, soar force and additional mass are formulated. A complicated conclusion is given for all questions in buoyancy method including how to make similar scale be 1：1. The theoretical research and experiments show that this method can be used in microgravity test of space operation. For its low cost and high similarity, buoyancy method is of great application significance.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2008年第3期182-188,共7页
Journal of Mechanical Engineering
基金
国家自然科学基金(50275141)。
关键词
水浮法
空间机器人操作试验
悬浮模型
力学分析
Buoyancy method Operation test of space robots Suspended model Dynamical analysis
