Space end effector cpaturing hybrid simulation system

The Space End Effector Capturing Hybrid Simulation System is proposed in the paper, the system can be used to simulate the Space End Effector Capturing a Target Spacecraft and test the Space End Effector on the ground. The force and torque of the Space End Effector and the Target Adapter are measured by two 6-DOF force sensors in the system, and the relative motion of the Space End Effector and the Target Adapter can be calculated by the built capturing dynamics model. Then the relative motion is implemented by a hydraulic driven Stewart platform. For the simulation system, the dynamics calculation method is presented to construct dynamics simulation external loop. The stability of the external loop is analyzed to obtain the stability condition. At last, the virtual prototype of Space End Effector Capturing Hybrid Simulation System is built in ADAMS/Simulink. On the basis of these analyses, the whole process of the Space End Effector capturing a Target Spacecraft is simulated successfully.