航天器对接六维试验台内装式重力平衡技术

为试验台主动对接环的重力平衡,研究了一种响应速度快、平衡力精度高,装在对接机构内部,适应高、低温环境的内装式重力平衡装置.介绍了有关技术:主动环实现三轴转动的球铰吊装机构;能够高速度、高精度地提供重力平衡力,并能实现自动随主动环上、下运动的智能型重力平衡技术;保证平衡器随主动环随动的轮轨式二维平动技术,经轻量化设计,其摩擦阻力和惯性阻力很小,并对轮/轨式方案进行了试验,当量摩擦系数仅为0.004?17.预计所研究装置的响应时间小于10?ms,各向失重模拟误差一般为1%~2%.

Gravity balance technique installed on six-freedom spacecraft docking test table

To balance gravity, a balance set with high respond speed and precision was designed. The set adaptable to high and low temperature was installed in the inside of the docking mechanism. Relative techniques are introduced, such as spherical gemel hoisting mechanism that made the active docking ring rotating in three-dimensional direction, intelligent gravity balance technique that could provide the force with high speed and precision to balance gravity and could automatically follow with the active docking ring, two-dimensional translation wheel technique that ensured balancer following the active docking ring. The friction and inertia resistance were very small by the design of lessening weight. An experiment about the wheel design was done. The results show that the equivalent weight friction coefficient is only 0.004?17. So the respond time of the whole design should be less that 10?ms. The error of simulated weightlessness is about 1%~2% in each direction.