부산대학교 도서관

Before launching a spacecraft, it is necessary to undergo micro low gravity simulations on the ground to test its reliability. The lifting method is not limited by movement time and space, and can simulate long-term low gravity environments. However, the degree of freedom of spatial mechanisms is gradually increasing, and the motion is becoming increasingly complex, making traditional lifting methods unable to meet the needs. In response to the above issues, a lifting gravity simulation scheme for a multi degree of freedom robotic arm that can achieve complex motion is proposed. The design adopts a single sling combined with a hanger to avoid interference during the motion process. Finally, simulation and experiments have proven the feasibility of the scheme - it can achieve efficient unloading without affecting the normal movement of the equipment.