Ground Verification System Of Capture Ability About 6DOF Floting Object For Space Robot

Spacecraft's in-orbit capturing and docking has become an important direction of research and application of space technology, which is the key to manned space flight technology, and also an important tool in the future to expand the application of satellite capacity. The aim of development of the instrument capturing satellite is that to maintain an effective and stable track movement as long as possible in order to extend the orbital lifetime, reducing the frequency of turnover. At the same time, satellite orbit requires the ability to make it less susceptible to attacks, to be able re-positioning to see sensitive region, or to reduce the global satellite coverage and more. In addition, due to launch costs and weight constraints, require in-orbit satellites with a service function, the completion of on-orbit fuel, the use of automatic loading system to replace damaged satellite components or goods such as the cost to add the task. Spacecraft's in-orbit capturing instrument will expand the scope of application satellites and the use of flexibility. greatlyThe main contents are as follows:(1) Introducing the space robot's current development situation and domestic and international significance. The main categories of space robots, free-flying space robot's mainly application, to show the simulated ground-air satellite platform's key technologies and mainly application of gas bearing in ground-air satellite.(2) Studying the finite element method about the static gas bearing characteristics , analyzing conformal transformation under various coordinates, and deriving small hole transformation dentally.(3) Studying the gas bearing non-parametric optimization methods, introducing support vector machine theory and method of reunification, used in the gas bearing non-parameter model. On this basis, the non-parameter research based on genetic algorithm is performed.(4) Studying the semi-active method of micro-gravity space main in the research of vertical direction Gravity compensation. On this basis, with combination of gas bearing research, a semi-active six degrees of freedom simulation satellite is designed, and the satellite's reposition system is studied also.(5) Studying an automatic claw changer device for space robot, its working principle and concrete structure are illustrated and giving the simulation results.The main innovation of this paper:(1) A semi-active six degrees of freedom simulation satellite is designed, the satellite overcomes the shortcomings of past passive hanging wire and cylinder micro-gravity system of the shortcomings to improve the accuracy of the micro-gravity system.(2) A simple satellite reposition system is designed to meet the general requirements put forward by the experiment.(3) A space robot's automatic claw exchanger device is designed to fill a domestic gap.