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CN-122009541-A - Microgravity simulation system capable of repeatedly expanding and contracting solar wing

CN122009541ACN 122009541 ACN122009541 ACN 122009541ACN-122009541-A

Abstract

The invention discloses a microgravity simulation system capable of repeatedly unfolding and folding solar wings, which comprises foldable solar wings, a gravity compensation device, a driving device and a six-degree-of-freedom mechanical arm, wherein the foldable solar wings are formed by hinging a plurality of panels with each other, the tail end of the six-degree-of-freedom mechanical arm is hinged with the innermost panel of the foldable solar wings through a bracket, the gravity compensation device comprises lifting lugs arranged in the geometric center of each panel, pulley assemblies, sliding rails, ropes and springs, the number of the pulley assemblies is the same as that of the lifting lugs, one ends of the ropes are connected with the lifting lugs, the other ends of the ropes are connected with the pulley assemblies through the springs, the pulley assemblies are connected with the sliding rails in a sliding manner, the springs are configured to provide elastic force equal to the gravity of the corresponding panels, the track of the sliding rails is matched with the horizontal movement path of hanging points of the corresponding panels in the solar wing folding process, and the driving device is used for driving the panels to rotate relatively to realize the unfolding and folding of the solar wings. The requirements of large-scale multi-panel solar wing ground tests can be met.

Inventors

  • CHEN YAN
  • WANG TIANSHU
  • XU WEIHAN
  • WANG SIHAN
  • LIU JIAMING
  • LI MING
  • ZHANG XIAO

Assignees

  • 天津大学
  • 上海宇航系统工程研究所

Dates

Publication Date
20260512
Application Date
20260407

Claims (8)

  1. 1. The microgravity simulation system capable of repeatedly expanding and contracting the solar wing is characterized by comprising a foldable solar wing, a gravity compensation device, a driving device and a six-degree-of-freedom mechanical arm (7), wherein the foldable solar wing is formed by hinging a plurality of panels (1), and the microgravity simulation system comprises the following components: the tail end of the six-degree-of-freedom mechanical arm (7) is hinged with the innermost panel (1) of the foldable solar wing through a bracket (9) and is used for providing multi-degree-of-freedom motion support for the foldable solar wing; The gravity compensation device comprises lifting lugs (2) arranged at the geometric center of each panel (1), pulley assemblies (5) the same in number as the lifting lugs (2), sliding rails (6), ropes (3) and springs (4), wherein one ends of the ropes (3) are connected with the lifting lugs (2), the other ends of the ropes are connected with the pulley assemblies (5) through the springs (4), the pulley assemblies (5) are connected with the sliding rails (6) in a sliding manner, the springs (4) are configured to provide elastic force equal to the gravity of the corresponding panel (1), and the track of the sliding rails (6) is matched with the horizontal movement path of the lifting lugs (2) of the corresponding panel (1) in the solar wing collecting process; The driving device is used for driving the panels (1) to rotate relatively so as to realize the unfolding and folding of the solar wing.
  2. 2. The microgravity simulation system capable of repeatedly expanding and contracting solar wings according to claim 1, wherein the driving device comprises an expanding and contracting driving motor (8) arranged at the hinging position of any two panels (1) of the root part of the foldable solar wings, the expanding and contracting driving motor (8) and the six-degree-of-freedom mechanical arm (7) form a cooperative driving relationship, and in the expanding and contracting process, the expanding and contracting driving motor (8) provides a main driving force, and the six-degree-of-freedom mechanical arm (7) performs follow-up and provides dynamic root constraint.
  3. 3. The microgravity simulation system capable of repeatedly expanding and contracting the solar wing according to claim 1 is characterized in that the lifting lug (2) is a spherical hinge joint, the fixed end of the spherical hinge joint is connected to the geometric center of the panel (1), the spherical hinge joint enables the rope (3) to swing in any direction relative to the panel (1), and additional bending moment generated by the rope (3) during movement of the panel (1) is avoided.
  4. 4. The microgravity simulation system of the repeatable folding and unfolding solar wing according to claim 1, wherein the six-degree-of-freedom mechanical arm (7) performs position control according to a preset folding and unfolding track, provides boundary constraint of a simulation satellite body for the folding solar wing, and compensates position deviation in the folding and unfolding process.
  5. 5. The microgravity simulation system capable of repeatedly expanding and contracting the solar wing according to claim 1, wherein the sliding rail (6) is composed of a plurality of curve guide rail sections, and the curve guide rail sections are horizontal projection routes of the expansion geometric center of the panel and are fixed above a test site.
  6. 6. The microgravity simulation system of claim 1 wherein the overall dimension of the system in fully folded condition is less than 4m x 2m.
  7. 7. Microgravity simulation system for a repeatable deployment and retraction of solar wings according to claim 1, characterized in that the spring (4) is a helical spring.
  8. 8. The microgravity simulation system capable of repeatedly expanding and contracting the solar wing according to claim 1, wherein a root clamping tool (10) is arranged at the tail end of the six-degree-of-freedom mechanical arm (7), the root clamping tool (10) is connected with the support (9), the support (9) is of a flat-bottom V-shaped structure, and two tail ends of the support (9) are fixedly connected with two sides of the panel (1) at the innermost middle part of the foldable solar wing respectively.

Description

Microgravity simulation system capable of repeatedly expanding and contracting solar wing Technical Field The invention relates to the technical field of spacecraft ground tests, in particular to a microgravity simulation system capable of repeatedly expanding and contracting solar wings. Background The solar wing is a main energy supply part of a spacecraft such as a satellite, and is in a furled state in the launching stage so as to save the space in a rocket fairing, and the solar wing needs to be reliably unfolded to a working state after being in orbit. The deployment reliability of the solar wing is directly related to success and failure of the aerospace mission, so that the deployment and retraction performance of the solar wing must be fully verified in the ground test stage. The simulation of the microgravity environment is a key link of a ground test, and aims to offset the gravity born by each panel of the solar wing in a ground gravity field, so that the zero gravity unfolding and folding behavior in the space is truly reproduced. At present, the ground microgravity simulation technology mainly comprises three modes of air floating type, water floating type and hanging type. The air floatation type forms an air film on the smooth platform through the air foot to realize the motion similar to friction-free motion, but the air floatation type solar wing has extremely high requirements on the planeness of the platform and is difficult to adapt to the multi-panel solar wing with a large-range motion track. The water floating type utilizes the buoyancy of water to offset gravity, but the viscous resistance of the water can influence the authenticity of the unfolding and collecting dynamic characteristics, and the subsequent cleaning and maintenance are complex. The suspended type solar wing ground test device has the advantages of simple structure, lower cost and easy realization, and is widely applied to the solar wing ground test because the suspended type solar wing ground test device applies upward tension to all parts of the solar wing through ropes, springs or counterweights to counteract gravity. However, the existing hanging type microgravity simulation system still has the following technical problems in the unfolding and folding test of the multi-panel solar wing: First, the gravity compensation accuracy is insufficient. The traditional hanging system usually adopts a single-point hanging mode, namely, hanging the whole solar wing or adopting fixed hanging points for each panel. However, in the unfolding and folding process of the multi-panel solar wing, the centroid position of each panel is continuously changed along with the unfolding and folding angle, and the fixed hanging point cannot move along with the centroid in real time, so that the hanging force and the gravity acting line are not overlapped, additional moment is generated, and further the panel attitude deviation and the gravity compensation error are caused. In addition, the motion trail of the panel in the unfolding and folding process often comprises complex horizontal and vertical displacement, and the decoupling compensation of the motion in two directions is difficult to realize by the existing hanging system. Secondly, root boundary conditions are not truly simulated. When the solar wing is unfolded in orbit, the root part of the solar wing is connected with the satellite body through the hinge mechanism, and the satellite body can apply complex six-degree-of-freedom motion constraint to the root part in the unfolding process. The existing suspension system generally fixes the solar wing root on the support frame, only releases the unfolding freedom degree, and cannot simulate the dynamic response of the satellite body in three translational directions and three rotational directions, so that the boundary conditions of the ground test are different from the on-orbit working conditions, and the authenticity of the unfolding dynamics characteristic and the reliability of the test result are affected. Thirdly, the repeatable expansion precision is difficult to ensure. Ground testing of solar wings often requires multiple repeated deployments to verify the fatigue life and reliability of the mechanism. After the existing hanging system is unfolded and folded for many times, due to abrasion of ropes, fatigue of springs and accumulation of gaps of sliding rails, the hanging point position drifting and gravity compensation force fluctuation are easy to occur, repeatability of unfolding and folding tracks is affected, and requirements of high-precision repeated tests are difficult to meet. Fourth, the application of the mechanical arm is not yet effectively cooperated with the hanging system. In recent years, industrial mechanical arms are gradually introduced into the field of spacecraft ground test due to six-degree-of-freedom flexible movement capability. However, in the prior art, the mechanical arm is usually only used as