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Artificial Life and Robotics
Published in: Artificial Life and Robotics 1/2020

29-10-2019 | Original Article

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

Authors: Ayana Nakayama, Tomohiro Hirata, Katsuyoshi Tsujita

Published in: Artificial Life and Robotics | Issue 1/2020

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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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Metadata
Title
A study of a gravity compensation system for the spacecraft prototype test by using multi-robot system
Authors
Ayana Nakayama
Tomohiro Hirata
Katsuyoshi Tsujita
Publication date
29-10-2019
Publisher
Springer Japan
Published in
Artificial Life and Robotics / Issue 1/2020
Print ISSN: 1433-5298
Electronic ISSN: 1614-7456
DOI
https://doi.org/10.1007/s10015-019-00568-4

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