DYNAMIC MODELING AND SIMULATION

ON SUSPENSION MODULE

YAO Yansheng^{1, 2}  MEI Tao¹  LUO Minzhou¹

(1. Center for Biomimetic Sensing and Control,Research Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei 230031;

2. Department of Precision Instrumentation and Precision Machinery, University of Science and Technology of China, Heifei 230027)

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: Suspension module  Tracing  Dynamic  Motion planning  Modeling and simulation

CLC No: TH11.5

国家自然科学基金资助项目(50275141). Received 20050531, received in revised form 20060317