In a new stage of the space development, collision and contact tasks under micro-gravity, such as docking, orbital servicing, and touchdown to a minor body, are now increasing. A hybrid motion simulation consisting of both physical and numerical models is an effective method to test the motions of a spacecraft under zero G on the ground. The authors have developed a hybrid zero G motion simulator based on a high-speed parallel link mechanism. Wide response bandwidth and high stiffness of the simulator have made it possible to simulate the contact motions with high precision. In this paper, we evaluate analytically the simulator's characteristics and verify experimentally the impact dynamics on the hybrid motion simulation by comparing it with a collision experiment under zero G in a drop-shaft facility. The results imply that the simulator is highly reliable for the impact dynamics simulation under zero G.
|Number of pages||6|
|Journal||IEEE International Conference on Intelligent Robots and Systems|
|Publication status||Published - 2001 Jan 1|
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Vision and Pattern Recognition
- Computer Science Applications