关键词: 动力学, 轨迹规划, 建模与仿真, 悬架模块, 追踪

Abstract: To study the characteristics of suspension module’s motion, make motion planning perfectly and enhance the effect of gravity compensation, a model of 3-DOF suspension system in accelerating motion and in stable motion is built. Through the space robot based-earth experience system, limiting the deviated angle of the wire in low lever and its tension equal to the gravity of suspension, after acceleration tracking and velocity adjustment, the suspension point following the suspension object in horizon to simulate the motion of space object for long time is acquired. Numerical method is used in this 3-DOF suspension module. Simulation for two different tracking programming by comparison under a set of system parameter of this model shows that with suitable motion planning of suspension position (slide block) suspension module is a good base-earth system to simulate aircraft in microgravity condition. These analyses also prove the scheme viable.

Key words: Dynamic, Modeling and simulation, Motion planning, Suspension module, Tracing