Active gravity compensation test bed for a six-DOF free-flying robot

A novel active gravity compensation concept is proposed to simulate space on-orbit microgravity environments for free-flying robots on ground. Here, robots are suspended by active-controlled motion path tracking mechanisms through wires to compensate for gravitational forces. Based on the concept, an experimental test bed was designed and fabricated in laboratory to study on-ground kinematic and dynamic behaviors of a free-flying robot. The experimental fabrication contains an active horizontal motion tracking mechanism composed of primary and secondary active rotating arms. An multi-objective optimization method calculating the tension of the wires to minimize torques on robot joints is approved. The tension of the suspension wires is obtained through passive counterweights using pulley mechanisms. The kinematics and dynamics of a 6-DOF free-flying manipulator were calculated in MATLAB and simulated in MSC Adams under three working conditions: zero-gravity, gravity compensation and gravity. The lowest ratio of the torque compensation reached 80%. Agreements between numerical analyses and simulation results confirm the ability of this gravity compensation concept to simulate the kinematic and dynamic behaviors of free-flying manipulator in space.