|
Abstract: Buoyancy method with less equipment and simple control, used in ground demonstration of space operation is presented. Because the model suspended in water where gravity is cancelled by buoyancy force has six degrees of freedom, buoyancy method looks like the best choice for function test of space robots which grasp the float objectives. The interaction of fluid field and the experimental model is analyzed. It is the problem of kinematics and dynamics. Then the problem how to scheme mass and volume for the model balance in any direction is presented. In addition, the drag fore, soar force and additional mass are formulated. A complicated conclusion is given for all questions in buoyancy method including how to make similar scale be 1:1. The theoretical research and experiments show that this method can be used in microgravity test of space operation. For its low cost and high similarity, buoyancy method is of great application significance.
Key words: Buoyancy method Operation test of space robots Suspended model Dynamical analysis
CLC No:
TV416.5 TB126
国家自然科学基金资助项目(50275141).
Received
20070319,
received
in
revised
form
20071019
|
| References
[1] GREGORY C W, XU Y. An active
vertical-direction grav-ity compensation system[J]. IEEE Transactions on
Instru-mentation and Measurement, 1994, 43(6): 769-792.
[2] SATO Y, EJIRI A, IIDA Y, et al. Micro-G emulation system using
constant-tension suspension for a space manipula-tor[C]// Proceedings of
the 1991 IEEE International Con-ference on Robotics and Automation,
April 9-11, 1991, Sacramento, California. California: IEEE Computer
Society Press, 1991: 1 893-1 900.
[3]
YAO Yansheng, MEI Tao, LUO Minzhou. Dynamic mod-eling and simulation on
suspension module[J]. Chinese Journal of Mechanical Engineering, 2006,
42(6): 30-34.
[4]
DONG Zengnan, ZHANG Xinxiong. Non-viscous fluid dynamics[M].
Beijing: Tsinghua University Press, 2003.
[5] BANKE E, SMITH S. Measurements of towing drag on small icebergs [J].
Oceans, 1974, 6(1): 130-132.
[6] HOLLER R A. Hydrodynamic drag of drogues and sea anchors for drift
control free-floating buoys [J]. Oceans, 1985, 17: 1 330-1 335.
[7] SUN M, SAITO T, TAKAYAMA K, et al. Unsteady drag on a sphere by
shock wave loading[J]. Shock Wave, 2005, 14(1): 3-9.
[8] HIGGINSON R C, DALZIEL S B, LINDEN P F. The drag on a vertically
moving gid of bars in linearly stratified fluid [J]. Experiments in
Fluids, 2003, 34: 678-686.
[9] SMITH M R, EYSSA Y M, STEVEN W. Design of a su-perconducting
magnetic suspension system for a liquid helium flow experiment[J]. IEEE
Transactions on Applied Superconductivity, 1997, 7(2): 382-385.
[10]
HE Jiamei, DING Huanchang. Trajectory of a spinning ball[J]. Journal of
Xuchang University, 2005, 25(5): 38-40.
[11]
LI Qing. Analyzing resistance characteristics by numeri-cal
calculation[J]. Ship & Boat, 2003, 12: 15-18.
[12] LADER P F, ENERHAUG B. Experimental investigation of forces and
geometry of a net cage in uniform flow[J]. IEEE Journal of Oceanic
Engineering, 2005, 30(1): 79-84.
[13]
WANG Zhaoqi, ZHAO Yishan. Calculating method on aerodynamic drags of
Maglev in passing tunnel[J]. Jour-nal of Tongji University, 2003,
31(10): 1 183-1 187.
[14]
YANG Xiaohong. The calculation of air resistance under the ideal model
state[J]. Journal of Yangzhou Polytechnic College, 2005, 9(1): 28-31.
[15]
LONG Jianjun, WU Baihai, YU Jinbo, et al. Experimental research on fluid
friction to submersible reference frame moving along gravitational
direction[J]. Machine Tool & Hydraulics, 2005, 11: 58-60. |