CN108168757A - The small racemization power test platform of space Tum bling Target electromagnetism racemization and its test method - Google Patents
The small racemization power test platform of space Tum bling Target electromagnetism racemization and its test method Download PDFInfo
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- CN108168757A CN108168757A CN201711335186.6A CN201711335186A CN108168757A CN 108168757 A CN108168757 A CN 108168757A CN 201711335186 A CN201711335186 A CN 201711335186A CN 108168757 A CN108168757 A CN 108168757A
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- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0028—Force sensors associated with force applying means
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Abstract
The present invention provides a kind of small racemization power test platform of space Tum bling Target electromagnetism racemization and its test methods, belong to space Tum bling Target despun control power technical field of measurement and test.Including marble vibration isolation table, industrial robot pedestal, single-degree-of-freedom straight line air-float guide rail, sliding block, turntable, right limit block, left limit block, target satellite, jet pipe, right side solar array, left side solar array, right side tensiometer, left side tensiometer, right side adjustable elastic bar, left side adjustable elastic bar, industrial robot and electromagnetism racemization end effector.Turntable provides two measurement stations above sliding block, starts frictional force f using double tensiometer structure measurement air-float guide rails0And small electromagnetism racemization power is in X, the component of Y-direction, the measurement of realization two-dimensional electromagnetic racemization power.The platform is adapted to fit different quality and the target satellite of size, and air-float guide rail, sliding block, turntable and its attachment are grouan material manufacture, suitable for the measurement of electromagnetism racemization power small under electrostatic, electromagnetic environment.
Description
Technical field
The present invention relates to a kind of small racemization power test platform of space Tum bling Target electromagnetism racemization and its test methods, belong to
Space Tum bling Target despun control power technical field of measurement and test.
Background technology
With increasing for mankind's space probation and all kinds of space missions, the in-orbit a large amount of space trashes left are to space environment
And the safety of in-orbit spacecraft constitutes a serious threat.The research heat of major space flight mechanism is become to the active removal of space junk
Point.Since itself posture control system fails, space junk will appear tumbling motion, therefore before arresting under the influence of the perturbative force of space
It is the essential stage that racemization is carried out to it.
For the safety during guarantee rolling space junk racemization, non-contacting racemization mode becomes first choice.Usually may be used
Racemization is carried out to Tum bling Target by Coulomb force, electromagnetic force, gas pulses, laser and particle beam bombardment method between star.But these
Racemization mode carry out ground validation can all suffer a problem that how accurately to measure non-contact racemization powerUsual this kind of racemization
Power is all in the hundred mN orders of magnitude, and by taking this kind of space junk of inert satellite as an example, quality is smart using C1 usually in tens to hundreds of Kg
(0.01%) the weighing measurement system of spending, its range only has 1Kg when reaching mN grades of dynamometry precision, is a few to tens of even for quality
The moonlet of Kg, resolution ratio are also difficult to meet demand.Needs are measured using new for this kind of big load, the operating mode of low thrust
Test system measure.
In the case where sensor resolution is difficult to be substantially improved, the method for taking mass balance offsets the matter of target in itself
Amount is then conducive to the measurement of small power.A kind of maglev method is proposed in China Patent No. ZL201210316957 and utilizes height
Target is suspended by temperature superconductive body, then measures the small power acted in target.But when applied to Tum bling Target electrostatic
When racemization and the measurement of electromagnetism racemization power, high-temperature superconductor magnetic field itself can generate interference to electrostatic and electromagnetism racemization, cause to disappear
Spin is distorted, and can be very good to avoid this phenomenon using pneumatically supported mode, and measuring table is allowed to have all kinds of racemization modes
Versatility.Usual air-flotation system friction coefficient can reach 10-5The order of magnitude is shown in document Rybus T, Seweryn K.Planar
air-bearing microgravity simulators:Review of applications,existing solutions
and design parameters[J].Acta Astronautica,2016,120:239-259；The target of tens kg floats
When, frictional force is the mN orders of magnitude, assists corresponding test system, can economy conveniently realize it is glitch-free under electricity, magnetic environment
The measurement of racemization power.
Invention content
The purpose of the present invention is to solve the above-mentioned problems of the prior art, and then provide a kind of space Tum bling Target
The small racemization power test platform of electromagnetism racemization and its test method.
The purpose of the present invention is what is be achieved through the following technical solutions：
A kind of small racemization power test platform of space Tum bling Target electromagnetism racemization and its test method, including：Marble every
Platform, industrial robot pedestal, single-degree-of-freedom straight line air-float guide rail, sliding block, turntable, right limit block, left limit block, the target of shaking are defended
Star, jet pipe, right side solar array, left side solar array, right side tensiometer, left side tensiometer, right side adjustable elastic bar, left side can
Elasticity adjusting bar, industrial robot and electromagnetism racemization end effector.
Wherein, industrial robot is separately fixed at mutually independent industrial robot bottom with single-degree-of-freedom straight line air-float guide rail
On seat and marble vibration isolation table.The industrial robot other end is connected with electromagnetism racemization end effector.Sliding block is straight in single-degree-of-freedom
Above line air-float guide rail, right limit block and left limit block are installed in sliding block both sides, turntable is connected with sliding block, and mesh is installed on turntable
Satellite is marked, target satellite is made of jet pipe, right side solar array and left side solar array.Right side tensiometer, left side tensiometer are consolidated
It is scheduled on single-degree-of-freedom straight line air-float guide rail.The adjustable bullet in right side is respectively adopted between right side tensiometer, left side tensiometer and sliding block
Property bar, left side adjustable elastic bar are connected.
The single-degree-of-freedom straight line air-float guide rail material includes granite, length 500mm, and straightness is 1 μm.
The sliding block and turntable material include granite, slider stroke 200mm.
The target satellite shell includes aluminium alloy structure.
The right side tensiometer and left side pulling force are calculated as IMADA pull and push dynamometer, dynamometry ranging from 0~5N, and least unit is
1mN, overload capacity 10N.
The artificial library card Six-DOF industrial robot of industrial machine.
Measurement process key step is as follows：
Step 1: marble vibration isolation table leveling, leveling is carried out before measurement starts using horizon rule to marble vibration isolation table,
Measurement result is interfered when ensureing to measure minimum；
Step 2: it is f to measure sliding block to start frictional force0, it ventilates to single-degree-of-freedom straight line air-float guide rail, floats sliding block,
Adjustment right side tensiometer, the position of left side tensiometer make its reading be zeroed, and fine tuning left side adjustable elastic pole length, generates at this time
MN grades of pulling force effects are starting stiction f on sliding block0It is constant to act on sliding block position, right side tensiometer registration is still 0,
Left side tensiometer registration is left when right side tensiometer registration is mutated with continuing to increase in the adjustable elastic pole length trim process of left side
The reading of side draw meter is to start frictional force f0, right side adjustable elastic bar can also be used and measure startup frictional force f0, repeatedly measure
After average as start frictional force f0；
Step 3: target satellite and electromagnetism racemization end effector are moved to the station for measuring racemization power X-direction component
One, start electromagnetism racemization end effector, act on target satellite body coordinate system O at this time1X1Y1O1X1The electromagnetism in direction disappears
Spin FxTensiometer on the left of power and the average value of right side tensiometer reading can be passed throughIt subtracts and starts frictional force f0It obtains；
Step 4: adjustment target satellite and electromagnetism racemization end effector are moved to the work for measuring racemization power Y-direction component
Position two starts electromagnetism racemization end effector by identical parameters, acts on target satellite body coordinate system O at this time1X1Y1O1Y1
The electromagnetism racemization power F in directionyTensiometer on the left of power and the average value of right side tensiometer reading can be passed throughIt subtracts and starts frictional force f0
It obtains.
Compared with the prior art, the present invention has the following advantages：
First, big quality objective mN grades of power can be realized using high-precision small-range tensiometer by air-flotation system in the present invention
It measures.Air supporting friction coefficient is 10-5The order of magnitude measures the goal satisfaction mN class precisions power of the 10Kg orders of magnitude.
2nd, it is noiseless to electromagnetic environment, compared with superconductive suspension device for measuring force, single-degree-of-freedom straight line air-float guide rail and its phase
Pass component is grouan material, will not interfere external magnetic field, is suitble to electrostatic racemization, the measurement of electromagnetism racemization power.
3rd, the measurement of two-dimentional power is realized using single-degree-of-freedom air-float guide rail.Become by the station of turntable and industrial robot
It changes and measures O respectively in station one, two1X1、O1Y1The electromagnetism racemization power in direction realizes survey of the static racemization power in X, Y-direction component
Amount.
Description of the drawings
Fig. 1 is the structural representation of a kind of small racemization power test platform of space Tum bling Target electromagnetism racemization and its test method
Figure.
Fig. 2 is a kind of small racemization power test platform of space Tum bling Target electromagnetism racemization and its measurement electromagnetism of test method
One position view of station of racemization power X-direction component.
Fig. 3 is a kind of small racemization power test platform of space Tum bling Target electromagnetism racemization and its measurement electromagnetism of test method
Two position view of station of racemization power Y-direction component.
Reference numeral in Fig. 1,1 is marble vibration isolation table, and 2 be industrial robot pedestal, and 3 lead for static-pressure linear air supporting
Rail, 4 be sliding block, and 5 be turntable, and 6 be right limit block, and 7 be left limit block, and 8 be target satellite, and 9 be jet pipe, and 10 be right side solar sail
Plate, 11 be left side solar array, and 12 be right side tensiometer, and 13 be left side tensiometer, and 14 be right side adjustable elastic bar, and 15 be left side
Adjustable elastic bar, 16 be industrial robot, and 17 be electromagnetism racemization end effector.
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in further detail：The present embodiment using technical solution of the present invention as
Under the premise of implemented, give detailed embodiment, but protection scope of the present invention is not limited to following embodiments.
As shown in Figure 1, a kind of small racemization power test platform of space Tum bling Target electromagnetism racemization involved by the present embodiment
And its test method, including：Marble vibration isolation table 1, industrial robot pedestal 2, single-degree-of-freedom straight line air-float guide rail 3, sliding block 4,
Turntable 5, right limit block 6, left limit block 7, target satellite 8, jet pipe 9, right side solar array 10, left side solar array 11, right side
Tensiometer 12, left side tensiometer 13, right side adjustable elastic bar 14, left side adjustable elastic bar 15, industrial robot 16 and electromagnetism disappear
Revolve end effector 17.
Wherein, industrial robot 16 is separately fixed at mutually independent industrial machine with single-degree-of-freedom straight line air-float guide rail 3
On people's pedestal 2 and marble vibration isolation table 1.16 other end of industrial robot and electromagnetism racemization end effector are connected 17.Sliding block 4 exists
3 top of single-degree-of-freedom straight line air-float guide rail, right limit block 6 and left limit block 7, turntable 5 and sliding block 4 are equipped in 4 both sides of sliding block
It is connected, target satellite 8 is installed, target satellite 8 is by 11 structure of jet pipe 9, right side solar array 10 and left side solar array on turntable 5
Into.Right side tensiometer 12, left side tensiometer 13 are fixed on single-degree-of-freedom straight line air-float guide rail 3.Right side tensiometer 12, left side are drawn
Right side adjustable elastic bar 14 is respectively adopted between power meter 13 and sliding block 4, left side adjustable elastic bar 15 is connected.
3 material of single-degree-of-freedom straight line air-float guide rail includes granite, length 500mm, and straightness is 1 μm.
The sliding block 4 and 5 material of turntable include granite, and 4 stroke of sliding block is 200mm.
8 shell of target satellite includes aluminium alloy structure.
The right side tensiometer 12 and left side tensiometer 13 are IMADA pull and push dynamometer, and dynamometry ranging from 0~5N is minimum single
Position is 1mN, overload capacity 10N.
The industrial robot 16 is library card Six-DOF industrial robot.
Measurement process key step is as follows：
Step 1: 1 leveling of marble vibration isolation table, adjusts marble vibration isolation table 1 using horizon rule before measurement starts
It is flat, measurement result is interfered when ensureing to measure minimum；
Step 2: it is f to measure sliding block 4 to start frictional force0, ventilate to single-degree-of-freedom straight line air-float guide rail 3, make sliding block 4 floating
It rises, adjustment right side tensiometer 12, the position of left side tensiometer 13 makes its reading be zeroed, at this time fine tuning left side adjustable elastic bar 15
Length generates mN grades of pulling force effects on sliding block 4, is starting stiction f0It is constant to act on 4 position of sliding block, right side tensiometer
12 registrations are still 0, and tensiometer 13 registration in left side in 15 length trim process of left side adjustable elastic bar with continuing to increase, when right side is drawn
The reading of left side tensiometer 13 is to start frictional force f when 12 registration of power meter is mutated0, right side adjustable elastic bar 14 can also be used and survey
Amount starts frictional force f0, averaged after repeatedly measuring as startup frictional force f0；
Step 3: target satellite 8 and electromagnetism racemization end effector 17 are moved to the work for measuring racemization power X-direction component
Position one starts electromagnetism racemization end effector 17, acts on 8 body coordinate system O of target satellite at this time1X1Y1O1X1The electricity in direction
Magnetic racemization power FxThe average value of 12 reading of tensiometer 13 and right side tensiometer on the left of power can be passed throughIt subtracts and starts frictional force f0
It arrives；
Step 4: adjustment target satellite 8 and electromagnetism racemization end effector 17, which are moved to, measures racemization power Y-direction component
Station two starts electromagnetism racemization end effector 17 by identical parameters, acts on 8 body coordinate system O of target satellite at this time1X1Y1
O1Y1The electromagnetism racemization power F in directionyThe average value of 12 reading of tensiometer 13 and right side tensiometer on the left of power can be passed throughIt subtracts and opens
Kinetic force of friction f0It obtains.
In the present embodiment, as shown in Figure 1, industrial robot 16 and single-degree-of-freedom straight line air-float guide rail 3 are separately fixed at phase
Mutually on independent industrial robot pedestal 2 and marble vibration isolation table 1, vibration is to surveying when being moved with electromagnetism racemization end effector 17
The influence of power process.Single-degree-of-freedom straight line air-float guide rail 3 is static pressure air-float guide rail, in marble vibration isolation table 1.It is single free
It is rectangular configuration to spend straight line air-float guide rail 3, and material is granite, noiseless to electromagnetic environment.Rail length is 500mm, straight line
Spend is 1 μm.4 stroke of sliding block is 200mm.Plenum system is supplied for orifice restriction, and supply gas pressure 0.5MPa can carry target and defend
8 module quality of star is 50Kg.Right limit block 6, left limit block 7 are installed in 4 both sides of sliding block, it is more than tensiometer range to prevent external force
Tensiometer is caused to damage.Sliding block 4 and turntable 5 form carrier module, to installation targets satellite modules 8.Sliding block 4 and single-degree-of-freedom
Carrying air film is formed by the gas that outside is fed between straight line air-float guide rail 3, sliding block 4 is in single-degree-of-freedom straight line air-float guide rail 3
Approximation can be realized without Frictional Slipping in movement X-direction.Turntable 5 is connected with sliding block 4, has on turntable 5 for installation targets satellite 8
The mounting hole and T-slot of module.8 module of target satellite is gone into mutually perpendicular two stations, such as Fig. 2, Fig. 3 using turntable 5
It is shown, it can realize the measurement of X, Y both direction power.To avoid interference racemization electromagnetic field environment, sliding block 4 and 5 material of turntable are equal
For granite.
8 module of target satellite by electromagnetism racemization target --- space inert satellite forms, 8 shell of target satellite be aluminium close
Golden structure is made of jet pipe 9, right side solar array 10 and left side solar array 11.Target satellite 8 is cube structure, is led
When electric shell is acted on electromagnetism racemization end effector 17, it can act in the electromagnetic force on target satellite 8.The electromagnetic force is led to
It crosses 8 ontology of target satellite to be transmitted on turntable 5 and sliding block 4, sliding block 4 is made to generate minute movement, passes through the right side being connected with sliding block 4
Tensiometer 12 and left side tensiometer 13 measure this mN grades of electromagnetic force.
Right side tensiometer 12 and left side tensiometer 13 are fixed on single-degree-of-freedom straight line air-float guide rail 3, right side tensiometer 12
Right side adjustable elastic bar 14 is respectively adopted between left side tensiometer 13 and sliding block 4 and left side adjustable elastic bar 15 is connected.Work as cunning
When right side tensiometer 12 and left side tensiometer 13 are directly delivered to when block is by electromagnetic force, small-range high-precision right side is utilized
Tensiometer 12 and left side tensiometer 13 realize the measurement to the electromagnetic force of transmission.Selected right side tensiometer 12 and left side pulling force
13 are counted as IMADA pull and push dynamometer, dynamometry ranging from 0~5N, least unit 1mN, overload capacity 10N.Pass through the guide rail right side
Limited block 6, left limit block limited block 7 and the overload capacity of right side tensiometer 12 and left side tensiometer 13 itself ensure measurement process
In right side tensiometer 12 and left side tensiometer 13 will not be damaged.
Industrial robot 16 is library card Six-DOF industrial robot, and one end is connected with industrial robot pedestal 2, the other end
It is connected with electromagnetism racemization end effector 17.Electromagnetism racemization end effector 17 is powered by industrial robot 16 and realizes driving.
During ground simulation spatial electromagnetic racemization process, the sixdegree-of-freedom simulation of industrial robot 16 drives electromagnetism racemization end effector
17 move at distance objective certain position the relative pose relationship simulated under initial racemization state.
Since single-degree-of-freedom air-float guide rail 3 can only measure a direction active force, pass through turntable 5 and work in practical dynamometry
The measurement of both direction power is realized in the station transformation of industry robot 16.O is measured in station one1X1The electromagnetism racemization power F in directionx, it
Turntable is rotated clockwise into 90 ° of arrival stations two afterwards, while the sixdegree-of-freedom simulation of industrial robot 16 drives electromagnetism racemization
End effector 17 moves to initial position around O1New position after being rotated by 90 °.It is held by identical parameters driving electromagnetism racemization end
Row device 17 measures O1Y1To electromagnetism racemization power Fy, realize the measurement to both direction electromagnetism racemization force component.
Embodiment 1
The mN grade two-dimensional electromagnetics power that the present embodiment carries out target satellite 8 during electromagnetism racemization measures key step such as
Under：
Step 1: 1 leveling of marble vibration isolation table, adjusts marble vibration isolation table 1 using horizon rule before measurement starts
It is flat, measurement result is interfered when ensureing to measure minimum；
Step 2: it is f to measure sliding block 4 to start frictional force0, ventilate to single-degree-of-freedom straight line air-float guide rail 3, make sliding block 4 floating
It rises, adjustment right side tensiometer 12, the position of left side tensiometer 13 makes its reading be zeroed, at this time fine tuning left side adjustable elastic bar 15
Length generates mN grades of pulling force effects on sliding block 4, is starting stiction f0It is constant to act on 4 position of sliding block, right side tensiometer
12 registrations are still 0, and tensiometer 13 registration in left side in 15 length trim process of left side adjustable elastic bar with continuing to increase, when right side is drawn
The reading of left side tensiometer 13 is to start frictional force f when 12 registration of power meter is mutated0, right side adjustable elastic bar 14 can also be used and survey
Amount starts frictional force f0, averaged after repeatedly measuring as startup frictional force f0；
Step 3: target satellite 8 and electromagnetism racemization end effector 17 are moved to the work for measuring racemization power X-direction component
Position one starts electromagnetism racemization end effector 17, acts on 8 body coordinate system O of target satellite at this time1X1Y1O1X1The electricity in direction
Magnetic racemization power FxThe average value of 12 reading of tensiometer 13 and right side tensiometer on the left of power can be passed throughIt subtracts and starts frictional force f0
It arrives；
Step 4: adjustment target satellite 8 and electromagnetism racemization end effector 17, which are moved to, measures racemization power Y-direction component
Station two starts electromagnetism racemization end effector 17 by identical parameters, acts on 8 body coordinate system O of target satellite at this time1X1Y1
O1Y1The electromagnetism racemization power F in directionyThe average value of 12 reading of tensiometer 13 and right side tensiometer on the left of power can be passed throughIt subtracts and opens
Kinetic force of friction f0It obtains.
In the present embodiment, the target satellite 8 of big quality is floated using static pressure air-float guide rail, utilizes high-precision small-range pulling force
Meter realizes the measurement of mN grade electromagnetic forces acted in big quality objective under electromagnetic environment.Measuring table has measurement 2DOF
The ability of electromagnetism racemization power, target installation turntable are suitable for measuring different quality and size objectives.
The foregoing is only a preferred embodiment of the present invention, these specific embodiments are all based on the present invention
Different realization methods under general idea, and protection scope of the present invention is not limited thereto, it is any to be familiar with the art
Technical staff in the technical scope disclosed by the present invention, the change or replacement that can be readily occurred in, should all cover the present invention
Within protection domain.Therefore, protection scope of the present invention should be subject to the protection domain of claims.
Claims (7)
1. a kind of small racemization power test platform of space Tum bling Target electromagnetism racemization, including：Marble vibration isolation table (1), industrial machine
Device people pedestal (2), single-degree-of-freedom straight line air-float guide rail (3), sliding block (4), turntable (5), right limit block (6), left limit block (7),
Target satellite (8), jet pipe (9), right side solar array (10), left side solar array (11), right side tensiometer (12), left side pulling force
(13), right side adjustable elastic bar (14), left side adjustable elastic bar (15), industrial robot (16) and electromagnetism racemization end is counted to perform
Device (17)；
It is characterized in that, industrial robot (16) is separately fixed at mutually independent work with single-degree-of-freedom straight line air-float guide rail (3)
On industry robot base (2) and marble vibration isolation table (1), industrial robot (16) other end and electromagnetism racemization end effector
(17) it is connected, sliding block (4) is equipped with right limit block (6) above single-degree-of-freedom straight line air-float guide rail (3) in sliding block (4) both sides
With left limit block (7), turntable (5) is connected with sliding block (4), target satellite (8) is equipped on turntable (5), target satellite (8) is by spraying
It manages (9), right side solar array (10) and left side solar array (11) to form, right side tensiometer (12), left side tensiometer (13) are solid
It is scheduled on single-degree-of-freedom straight line air-float guide rail (3), between right side tensiometer (12), left side tensiometer (13) and sliding block (4) respectively
It is connected using right side adjustable elastic bar (14) and left side adjustable elastic bar (15).
2. a kind of small racemization power test platform of space Tum bling Target electromagnetism racemization according to claim 1, feature exist
In single-degree-of-freedom straight line air-float guide rail (3) material includes granite, length 500mm, and straightness is 1 μm.
3. a kind of small racemization power test platform of space Tum bling Target electromagnetism racemization according to claim 1, feature exist
In sliding block (4) and turntable (5) material include granite, and sliding block (4) stroke is 200mm.
4. a kind of small racemization power test platform of space Tum bling Target electromagnetism racemization according to claim 1, feature exist
In target satellite (8) shell is aluminium alloy structure.
5. a kind of small racemization power test platform of space Tum bling Target electromagnetism racemization according to claim 1, feature exist
It is IMADA pull and push dynamometer in, right side tensiometer (12) and left side tensiometer (13), dynamometry ranging from 0~5N, least unit is
1mN, overload capacity 10N.
6. a kind of small racemization power test platform of space Tum bling Target electromagnetism racemization according to claim 1, feature exist
In industrial robot (16) is library card Six-DOF industrial robot.
7. the small racemization power of a kind of space Tum bling Target electromagnetism racemization described in a kind of claim 1~6 any claim is surveyed
Try the test method of platform, which is characterized in that measurement process key step is as follows：
Step 1: marble vibration isolation table (1) leveling, adjusts marble vibration isolation table (1) using horizon rule before measurement starts
It is flat, measurement result is interfered when ensureing to measure minimum；
Step 2: it is f to measure sliding block (4) to start frictional force0, ventilate to single-degree-of-freedom straight line air-float guide rail (3), make sliding block (4) floating
It rises, the position of adjustment right side tensiometer (12) and left side tensiometer (13) makes its reading be zeroed, at this time the adjustable bullet in fine tuning left side
Property bar (15) length, generate mN grade pulling force effects on sliding block (4), startup stiction f0Act on sliding block (4) position not
Become, right side tensiometer (12) registration is still 0, and tensiometer (13) registration in left side is with left side adjustable elastic bar (15) length trim process
In continue to increase, the reading of left side tensiometer (13) is to start frictional force f when right side tensiometer (12) registration is mutated0Or
Person utilizes right side adjustable elastic bar (14) to measure startup frictional force f0, averaged after repeatedly measuring as startup frictional force f0；
Step 3: target satellite (8) and electromagnetism racemization end effector (17) are moved to the work for measuring racemization power X-direction component
Position one starts electromagnetism racemization end effector (17), acts on target satellite (8) body coordinate system O at this time1X1Y1O1X1Direction
Electromagnetism racemization power FxPass through left side tensiometer (13) and the average value of right side tensiometer (12) readingIt subtracts and starts frictional force f0
It obtains；
Step 4: adjustment target satellite (8) and electromagnetism racemization end effector (17), which are moved to, measures racemization power Y-direction component
Station two starts electromagnetism racemization end effector (17) by identical parameters, acts on target satellite (8) body coordinate system at this time
O1X1Y1O1Y1The electromagnetism racemization power F in directionyPass through left side tensiometer (13) and the average value of right side tensiometer (12) reading
It subtracts and starts frictional force f0It obtains.
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| CN109284546A (en) * | 2018-09-06 | 2019-01-29 | 哈尔滨工业大学 | A kind of aluminum honeycomb panel structure three-dimensional electromagnetism racemization Calculating Torque during Rotary method in air gap unevenness situation |
| CN111439399A (en) * | 2020-04-15 | 2020-07-24 | 中国人民解放军国防科技大学 | Controllable superconducting magnetic field generating device for space electromagnetic control |
| CN111439400A (en) * | 2020-04-15 | 2020-07-24 | 中国人民解放军国防科技大学 | Ground test system for simulating despinning of space target electromagnetism-vortex |
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| CN113815015A (en) * | 2021-08-31 | 2021-12-21 | 北京精密机电控制设备研究所 | Multi-soft-arm space target despin ground physical verification system |
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