Ground simulation research on the super large moment of inertia of the space transfer manipulator

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.

Keywords

• space manipulator
• large moment of inertia
• ground simulation
• dynamic model
• adams