Robot modeling and simulation analysis of micro-gravity conditions

摘要

With the development of space technology, the space manipulator is widely used in space. Before launching into space to practical work, the manipulator needs to finish a large of number of experiments on the ground. In this article, we study on the mechanical arm to finding out the mechanical properties in the ground simulation experimental system and put forward the ground microgravity experiment system with a balance beam structure. Based on the D-H method, the mathematical model of the mechanical arm is established. And it's obvious that the microgravity experiment system scheme is feasible to solve the kinematics equation of manipulator. Based on the Lagrange method, the dynamics model of manipulator is established. Finally a dynamic simulation of mechanical arm based on MATLAB and ADAMS has demonstrated effective.