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A study of a gravity compensation system for the spacecraft prototype test by using multi-robot system

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Abstract

In our research, we proposed a system using multi-robot as a gravity compensation system for a ground test of a spacecraft with a deployable structure. The advantage of the system is its low cost and versatility. When the robots support the beam at the nodes, we can expect to simulate the free vibration of the space structure using the proposed system under gravity. In this study, supporting a uniform, flexible beam with vibration was first implemented to verify the performance of the proposed system. Then we investigated the performance of the system applying to the mock-up model of a spacecraft with a deployable structure as a demonstration.

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Acknowledgements

We would like to express my special thanks of gratitude to Dr. Naoko Kishimoto who gave me very important advice and cooperation.

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Authors and Affiliations

  1. Department of Electrical and Electronic Systems Engineering, Osaka Institute of Technology, 16-5, Omiya 5, Asahi-ku, Osaka, 535-8585, Japan

    Ayana Nakayama, Tomohiro Hirata & Katsuyoshi Tsujita

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  1. Ayana Nakayama
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  2. Tomohiro Hirata
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  3. Katsuyoshi Tsujita
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Correspondence to Katsuyoshi Tsujita.

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This work was presented in part at the 24th International Symposium on Artificial Life and Robotics, Beppu, Oita, January 23–25, 2019.

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Nakayama, A., Hirata, T. & Tsujita, K. A study of a gravity compensation system for the spacecraft prototype test by using multi-robot system. Artif Life Robotics 25, 81–88 (2020). https://doi.org/10.1007/s10015-019-00568-4

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  • DOI: https://doi.org/10.1007/s10015-019-00568-4

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