Hybrid micro-gravity simulator consisting of a high-speed parallel robot

Author

Akima, Toshifumi ; Tarao, Susumu ; Uchiyama, Masaru

Author_Institution

Graduate Sch. of Eng., Tohoku Univ., Sendai, Japan

Volume

2

fYear

1999

fDate

1999

Firstpage

901

Abstract

In ground testing of a spacecraft system, a simulator system which emulates a micro-gravity environment is necessary. It is demanded that the simulator system has wide response frequency bandwidth when dealing with motions having contacts and collisions. The authors have been developing a hybrid micro-gravity simulator which has a wide response bandwidth. Its motion table is a high-speed parallel robot driven by powerful direct drive motors. In preliminary experiments, this robot has achieved accelerations up to 40 (G). In this paper, we report an outline of the simulator and discuss the experimental results obtained

Keywords

aerospace simulation; aerospace test facilities; frequency response; robot kinematics; velocity control; zero gravity experiments; HEXA97 robot; high-speed parallel robot; inverse kinematics; microgravity simulator; motion table; response frequency bandwidth; spacecraft system; velocity control; Bandwidth; Computational modeling; Frequency; Hardware; Orbital robotics; Parallel robots; Servomechanisms; Space technology; Space vehicles; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.772404

Filename

772404