CN106005497A - Suspension type six-degree-of-freedom micro-gravity environment simulating system - Google Patents
Suspension type six-degree-of-freedom micro-gravity environment simulating system Download PDFInfo
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- CN106005497A CN106005497A CN201610414344.6A CN201610414344A CN106005497A CN 106005497 A CN106005497 A CN 106005497A CN 201610414344 A CN201610414344 A CN 201610414344A CN 106005497 A CN106005497 A CN 106005497A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
Abstract
The invention discloses a suspension type six-degree-of-freedom micro-gravity environment simulating system. The suspension type six-degree-of-freedom micro-gravity environment simulating system comprises a simulation spacecraft, a space three-dimensional driving follow-up unit, an attitude follow-up and fixing unit, a buffering and sensor mounting unit and a control unit. The space three-dimensional driving follow-up unit follows the position motion of the spacecraft and compensates for the gravity borne by the spacecraft. The attitude follow-up and fixing unit can follow the attitude adjusting motion of the spacecraft and can keep the existing attitude of the spacecraft after the attitude of the spacecraft is adjusted. The buffering and sensor mounting unit comprises a buffering module and a sensor mounting measurement module. By means of the buffering module, the gravity compensation precision is improved for the system based on the property that force on a spring cannot change instantly. The sensor mounting measurement module comprises a wireless tilt angle sensor and a tension sensor, and closed-loop control over the system is achieved. The control unit controls motion of a servo motor according to the measurement results of the sensors, and follows motion of the spacecraft actively.
Description
Art
The invention belongs to the space tasks ground validation technical field such as spacecraft and detector, be specifically related to provide spacecraft space fortune
The six degree of freedom microgravity environment of dynamic ground validation.
Background technology
Currently, the core content of space tasks is Spatial Cooperation, Spatial Cooperation be primarily referred to as including spacecrafts rendezvous all kinds of
Rail services, and the supply of space station, reparation are rotated with spacefarer's.The general step that these space tasks are implemented includes: task
The determination of content, the design carried into execution a plan, the ground experiment checking of scheme, the development of task performer, the validating in orbit of scheme,
And six stages of last enforcement of space tasks, each stage is indispensable.The ground validation implemented as space tasks is crucial
Part, the target of ground experiment is reasonability and the technical feasibility of clarifying space task scheme, and its success or not is at very great Cheng
Depend on degree whether used verification method is real reflection to its space tasks implementation process feature.Put it briefly, this
A little features include: space tasks implementation process is in microgravity environment and the motion of spacecraft attitude position is unfettered etc..And
The reflection of features described above is all existed clearly disadvantageous, such as by currently used ground validation method: system emulation cannot be real-time
Task process is described；Semi-physical simulation is although it is contemplated that the relative orbit of cooperative target runs, but is generally not related to microgravity ring
The impact in border, and the most only a certain subsystem in space tasks or specific function are verified, and each subsystem
The satisfied overall performance being not meant to integrated system of energy meets.In view of gravity compensation with without constrained motion in full physical simulation
Conventional method have weight-loss method, liquid float glass process, air supporting method and suspension method.Common the flying and freely falling body for parabolic of weight-loss method,
The space that the shortcoming of the method is that the time is short, take is big, can provide limited space and cost are high；The damping of liquid float glass process is big,
Maintenance cost is high and is only suitable for the situation of low-speed motion；Air supporting method typically can only provide the motion of five degree of freedom, at vertical direction
Limitation of movement.Space shared by suspension method is little, not by spatio-temporal constraint, be the method that gravity compensation is conventional, hang
Method can be generally divided into actively gravity compensation and passive gravity compensation.The compensation precision of passive gravity compensation is relatively low, to test effect
There is considerable influence；Actively gravity compensation can improve compensation precision, but the most actively gravitational compensation method is typically hung by single-point
Three-degree-of-freedom motion space or multi-point suspended is provided to provide six-freedom motion space, for realizing this mesh of spacecraft motion reappearance
Mark, three-degree-of-freedom motion space is obviously inadequate, and the Six-freedom-degree space that multi-point suspended is provided can, system difficulty complicated due to structure
Control causes test effect the best, and therefore, development one can more truly reflect that space tasks implementation process microgravity environment is without about
Bundle movement environment, to promoting that future space test is more precisely carried out on ground in advance, to reduce developing risk, improves reliable
Property, shorten research cycle, reduce investment outlay, make correlational study achievement enter ranks leading in the world as early as possible, significantly promote China
The potentiality of space flight ability and sustainable development are very important.
Summary of the invention
The present invention proposes a kind of single-point and hangs the ground compensation checking system that can provide spacecraft six-freedom motion space, fall
The low complexity controlled, improves system reliability.
Technical scheme:
One suspension type six degree of freedom microgravity environment analog systems of the present invention includes Simulated Spacecraft, space three-dimensional actively servo-actuated list
Unit, gesture follow-up and fixed cell, buffering and sensor mounting unit and control unit.Simulated Spacecraft is used for verifying the present invention
Gravity compensation precision and spacecraft motion and pose adjustment follow effect；Space three-dimensional actively actively follows space flight with moving cell
The position motion of device, and compensate the gravity suffered by spacecraft；Gesture follow-up and fixed cell can follow the pose adjustment of spacecraft
Motion, and the existing attitude of spacecraft can be kept after spacecraft attitude is adjusted；Buffering and sensor mounting unit include buffering mould
Measurement module installed by block and sensor, and the character that buffer module utilizes the power on spring to change moment improves system gravity compensation
Precision, sensor install measurement module include wireless tilt angle sensor and tension pick-up, for system provide closed loop control；Control
Unit processed controls the motion of servomotor according to the measurement result of sensor, actively follows the motion of spacecraft.
Described Simulated Spacecraft include spacecraft base plate, spacecraft main body, spacecraft launching site end with to extension bar, spacecraft base plate with
Spacecraft launching site end is arranged on the both sides of spacecraft main body, extension bar is arranged on spacecraft launching site end, is made up of extension bar two parts,
Big end for the end of thread in order to connect with spacecraft launching site end, small end be polished rod in order to be fitted without another simulation space flight to extension bar
The spacecraft launching site end docking of device.
Described space three-dimensional actively includes triangle fixed block, column, gusset, crossbeam, horizontal linear module and laterally with moving cell
Motor, vertical linear module and longitudinal motor and vertical linear module and vertical motor.Triangle fixed block is connected to column side and uses
To be connected vertical columns with the external world, triangle fixed block, column, gusset and crossbeam constitute space three-dimensional actively with the three of moving cell
Angle supporting construction, selects triangular support configurations can expand the range of movement of Simulated Spacecraft；Horizontal linear module and cross motor peace
On the crossbeam of dress, under the drive of cross motor, slide block thereon can transversely linear module motion；Vertical linear module and longitudinal direction
Motor is arranged on the slide block of horizontal linear module and cross motor, and the slide block of vertical linear module can under the drive of longitudinal motor
Move along vertical linear module；Vertical linear module and vertical motor are arranged on the slide block of vertical linear module and longitudinal motor,
The tooth bar of vertical linear module can vertically move under the drive of vertical motor；Then tooth bar can be at horizontal linear module, vertical line
Property module and vertical linear module and associated motor thereof drive under realize the three-dimensional motion in space.
Described gesture follow-up and fixed cell include that rolling module, pitching and attitude keep module, hanger bracket and driftage module, rolling
Revolving die block is directly connected in order to fixing spacecraft the rolling movement of following spacecraft with spacecraft, rolling module be connected to pitching and
Attitude keeps in module, and pitching and attitude keep module be connected on the side plate of hanger bracket and can follow the elevating movement of spacecraft also
The existing attitude of spacecraft, driftage module can be kept to be connected on the crossbeam of hanger bracket to follow the yawing rotation of spacecraft.
Described buffering and sensor mounting unit include that measurement module installed by buffer module and sensor, and buffer module includes under spring
End fixed block, stage clip, interior axle, spring overcoat and extended type linear bearing, extended type linear bearing is arranged on spring overcoat upper end,
Its inwall coordinates with interior axle, it is ensured that interior axle moves without rocking micro tribology relative to spring overcoat, stage clip upper end and extended type linear axis
Holding lower end in contact, lower end is fixed by lower spring end fixed block, and when interior axle moves relative to spring overcoat, the compression of stage clip is long
Degree changes therewith；Sensor is installed measurement module and is included sensor installing plate, candan universal joint, wireless tilt angle sensor, battery
Installing plate, tension pick-up connect post and tension pick-up, and wireless tilt angle sensor is arranged on sensor installing plate, sensor
Installing plate is arranged on interior axle, and interior axle is connected with candan universal joint lower end by pin, and the upper end of cross coupler is passed by tension force
Sensor connects post and is connected on tension pick-up, and tension pick-up connection post is also equipped with battery installing plate.
Described control unit includes motor driver, wireless receiver and controls card, and wireless receiver passes in order to receive wireless tilt
The information of sensor, controls card and various signals is processed the motion being controlled associated motor by motor driver, actively follow boat
The motion of it device also compensates the gravity of spacecraft.
Described Simulated Spacecraft is arranged in the scrolling module of gesture follow-up and fixed cell, gesture follow-up and fixed cell and buffering
And sensor mounting unit connects, buffering and sensor mounting unit are connected to space three-dimensional with on the tooth bar of moving cell.
Operation principle and the work process of the present invention a kind of suspension type six degree of freedom microgravity environment analog systems be: when spacecraft enters
During row pose adjustment, gesture follow-up and fixed cell are followed the Attitude control of spacecraft, gesture follow-up and fixed cell and are ensured
Spacecraft is in the both sides uniform quality distribution of the axisymmetrical of its rotary motion, and its pose adjustment transported by the gravity of spacecraft itself
Dynamic without impact；When spacecraft carries out orbit maneuver, adjusts its position, spacecraft horizontal movement drives buffering and sensor to install
Unit swings around candan universal joint, and the deflection angle that measurement is obtained by wireless tilt angle sensor passes to control card, controls card and passes through
Motor driver controls electric machine rotation laterally and longitudinally and drives corresponding linear module motion elimination deflection angle to follow spacecraft
Horizontal movement, when spacecraft vertical motion, the internally axle motion mutually of the most rigidly connected spring overcoat, stage clip reduction length becomes
Changing power thereon to change therewith, tension pick-up records this change and passes to control card, controls card control motor driver and controls
Vertical electric machine rotation drives vertical linear module motion to eliminate the change of amount of spring compression thus follows the vertical motion of spacecraft and mend
Repay the gravity suffered by spacecraft.
The present invention contrasts existing technology a following features:
1, add spring bumper and improve the compensation precision of system；
2, single-point hangs can provide the movement environment of spacecraft six degree of freedom and compensate the gravity that spacecraft is subject to；
3, add attitude and keep module, extend the range of application of the present invention；
4, wireless tilt angle sensor is used to reduce the interference of pair of connecting wires system motion.
Accompanying drawing explanation
Fig. 1 is overview and the front view of a kind of suspension type six degree of freedom microgravity environment analog systems.
Label in figure: 1: Simulated Spacecraft；2: gesture follow-up and fixed cell；3: buffering and sensor mounting unit；4:
Space three-dimensional is with moving cell.
Fig. 2 is Simulated Spacecraft.
Label in figure: 11: spacecraft base plate；12: spacecraft main body: 13: spacecraft launching site end；14: to extension bar.
Fig. 3 is gesture follow-up and fixed cell.
Label in figure: 21: rolling module；22: pitching and attitude keep module；23: hanger bracket；24: driftage module.
Fig. 4 is rolling module.
Label in figure: 211: interior fishplate bar fixes bolt；212: jackscrew fixed by rolling bearing；213: fishplate bar in succession in rolling bearing；
214: rolling bearing；215: fixing in rolling bearing；216: cambered surface pad；217: fixing nut.
Fig. 5 is pitching and attitude holding module.
Label in figure: 221: electromagnetic braking；222: pitch linkage plate；223: pitch bearing；224: big bearing extenal fixation frame.
Fig. 6 is driftage module.
Label in figure: 241: driftage extenal fixation；242: axle in driftage；243: yaw angle contact bearing；244: go off course external
End.
Fig. 7 is buffering and sensor mounting unit.
Label in figure: 31: buffer module；32: measurement module installed by sensor；311: lower spring end fixed block；312: pressure
Spring；313: interior axle；314: spring overcoat；315: extended type linear bearing；321: sensor installing plate；322: cross ten thousand
Xiang Jie；323: wireless tilt angle sensor；324: battery installing plate；325: tension pick-up connects post；326: tension force senses
Device.
Fig. 8 is that space three-dimensional is with moving cell.
Label in figure: 41: triangle fixed block；42: column；43: gusset；44: crossbeam；45: horizontal linear module and horizontal stroke
To motor；46: vertical linear module and longitudinal motor；47 vertical linear module and vertical motors.
Detailed description of the invention
The present invention will be further described below in conjunction with the accompanying drawings.
In conjunction with Fig. 1, one suspension type six degree of freedom microgravity environment analog systems of the present invention includes Simulated Spacecraft 1, gesture follow-up
And fixed cell 2, buffering and sensor mounting unit 3 and space three-dimensional are with moving cell 4.Simulated Spacecraft 1 passes through gesture follow-up
And fixed cell 2 is connected on buffering and sensor mounting unit 3, buffering and sensor mounting unit 3 are connected to space three-dimensional
With on moving cell 4.
In conjunction with Fig. 2, Simulated Spacecraft 1 includes spacecraft base plate 11, spacecraft main body 12, spacecraft launching site end 13 and docks
Bar 14, spacecraft base plate 1 and spacecraft launching site end 13 are arranged on the two ends of spacecraft main body 12, extension bar 14 are arranged on boat
On the end-face helical hole of it device butt end 13.
Include that rolling module 21, pitching and attitude keep module 22, hang in conjunction with Fig. 3～Fig. 6, gesture follow-up and fixed cell 2
Frame 23 and driftage module 24.Simulated Spacecraft 1 is connected with gesture follow-up and fixed cell 2 by rolling module 21, rolling mould
Block 21 keeps module 22 to be connected with pitching and attitude, and pitching and attitude keep module 22 to be arranged on the both sides of hanger bracket 23, outstanding
On hanger 23, end floor beam center position is provided with driftage module 24.Rolling module 21 includes that interior fishplate bar fixes bolt 211, rolling
Bearing is fixed in jackscrew 212, rolling bearing and to be fixed 215 in succession in fishplate bar 213, rolling bearing 214, rolling bearing, cambered surface pad
Sheet 216 and fixing nut 217, concrete annexation is shown in Fig. 4；Pitching and attitude keep module 22 include electromagnetic braking 221,
Pitch linkage plate 222, pitch bearing 223 and big bearing extenal fixation frame 224, concrete annexation is shown in Fig. 5；Driftage module 24
Including axle 242, yaw angle contact bearing 243 and driftage external connection end 245, concrete annexation in driftage extenal fixation 241, driftage
See Fig. 6.
Connection installation steps in conjunction with Fig. 3～Fig. 6 Simulated Spacecraft 1 with gesture follow-up and fixed cell 2 are:
1) it is connected fixing 215 in rolling bearing with spacecraft main body 12, at the beginning of cambered surface pad 216 and fixing nut 217
Step fixing above-mentioned between link position, the same mode of opposite side is installed, it is ensured that fixing in the rolling bearing of both sides
The thread spindle axis of 215 is on the same line；
2) spacecraft launching site end 13 is connected with spacecraft main body 12, spacecraft base plate 11 is installed in spacecraft main body 12,
Extension bar 14 will be installed on spacecraft launching site end 13；
3) by the inner ring of rolling bearing 214 with fix 215 in rolling bearing and coordinate, fix bolt 211 by rolling by interior fishplate bar
In bearing, connecting plate 213 is fixed in being fixed to rolling bearing on the screwed hole of 215, fixes jackscrew by rolling bearing
212 are connected fixing 215 in rolling bearing 214 inner ring and connecting plate 213 in rolling bearing and rolling bearing, another
Side is installed with same step；
4) pitch bearing 223 is installed in pitch linkage plate 222；
5) big bearing extenal fixation frame 224 is fixed on the outer ring of rolling bearing 214, and big bearing extenal fixation frame 224 is fixed
On pitch bearing 223；
6) pitch linkage plate 222 is fixed on hanger bracket 23；
7) other side is repeated step 4)～6)；
8) the crossbeam level of hanger bracket 23 being fixed, both sides fix 215 with spacecraft main body 12 simultaneously in adjusting rolling bearing
The link position of rolling locating slot, until Simulated Spacecraft 1 keeps level；
9) pull down the spacecraft base plate 11 of Simulated Spacecraft 1, tighten fixing nut 217,215 will be fixed in rolling bearing and navigate
It device main body 12 is connected, and is installed in spacecraft main body 12 by spacecraft base plate 11；
10) electromagnetic braking 221 of both sides is arranged on the pitch linkage plate 212 of correspondence；
11) axle 242 in driftage is connected with yaw angle contact bearing 243, yaw angle contact bearing 243 is installed to outside driftage
In fixing 241, it is installed to driftage external connection end 244 go off course on interior axle 242, its lower end and yaw angle contact ball bearing
243 inner ring side fastening, form yawing unit 24；
12) yawing unit 24 is installed to the upper end of hanger bracket 23.
Include that buffer module 31 installs measurement module 32 with sensor in conjunction with Fig. 7 buffering and sensor mounting unit 3, buffer mould
Block 31 includes lower spring end fixed block 311, stage clip 312, interior axle 313, spring overcoat 314 and extended type linear bearing 315；
Stage clip 312 is arranged in spring overcoat 314, its upper end and the extended type linear bearing being arranged in spring overcoat 314 315 times
End in contact, its lower end is connected to and the interior axle 313 of extended type linear bearing 315 fit inside by lower spring end fixed block 311
On, when the mutually internal axle of spring overcoat 314 313 moves, the decrement of stage clip 312 changes therewith.Sensor is installed and is measured mould
Block 32 includes sensor installing plate 321, candan universal joint 322, wireless tilt angle sensor 323, battery installing plate 324, tension force
Sensor connects post 325 and tension pick-up 326, and wireless tilt angle sensor 323 is arranged on sensor installing plate 321, passes
Sensor installing plate 321 is fixed on the interior axle 313 of buffer module 31, the upper end of interior axle 313 and the lower end of candan universal joint 322
Connecting, the upper end of candan universal joint 322 connects post 325 by tension pick-up and is connected on tension pick-up 326, and tension force passes
It is also equipped with battery installing plate 324 on sensor connection post 325.Wireless tilt angle sensor 323 in order to measure interior axle 313 relative to
The pivot angle of the fixing end of candan universal joint 322, angle of inclination the most with respect to the horizontal plane, tension pick-up 326 is in order to measure stage clip
The change of power on 312.
In conjunction with Fig. 8, space three-dimensional includes triangle fixed block 41, column 42, gusset 43, crossbeam 44, laterally with moving cell 4
Linear module and cross motor 45, vertical linear module and longitudinal motor 46 and vertical linear module and vertical motor 47.Triangle
Fixed block 41 is arranged on the both sides of column 42 in order to fix with the external world, triangle fixed block 41, column 42, gusset 43 and crossbeam
The bracing frame of 44 structure cost-elements, horizontal linear module and cross motor 45 are arranged on crossbeam 44, vertical linear module and vertical
On the slide block that motor 46 is arranged on horizontal linear module and cross motor 45, vertical linear module and vertical motor 47 are arranged on
On the slide block of vertical linear module and longitudinal motor 46.
In conjunction with Fig. 1～Fig. 3 and Fig. 7～Fig. 8, the order of connection between each unit is that Simulated Spacecraft 1 is arranged on gesture follow-up and consolidates
In cell 2, gesture follow-up and fixed cell 2 are gone off course external connection end 244 by driftage module 24 and buffer and sensor installation list
The spring overcoat 314 of unit 3 connects, and buffering and sensor mounting unit 3 are by the connector of tension pick-up 326 and space three
The tooth bar lower end tieing up the vertical linear module with moving cell 4 and vertical motor 47 connects.Carry when Simulated Spacecraft 1 horizontal movement
The Hooke's joint 322 that dynamic buffer module 31 installs measurement module 32 around sensor swings, and wireless tilt angle sensor 323 is surveyed
Obtaining angle change and pass information to control unit, control unit controls horizontal linear mould through information processing drive motor driver
Group and cross motor 45 eliminate angle change with vertical linear module and longitudinal motor 46 motion and actively follow Simulated Spacecraft 1
Horizontal movement；Drive the mutually internal axle of spring overcoat 314 313 of buffer cell 31 to move when Simulated Spacecraft 1 vertical motion,
Power on stage clip 312 changes therewith, and the numerical value that measurement is obtained by tension pick-up 326 passes to control unit, control unit warp
Cross processing controls vertically linear module and vertical motor movement makes the numerical value of tension pick-up 326 recover to the numerical value set, thus
Follow the vertical motion of Simulated Spacecraft 1 and compensate its gravity.When Simulated Spacecraft 1 pose adjustment, gesture follow-up and fixing
Unit 2 can follow the Attitude control of Simulated Spacecraft 1, and for reducing external interference, Simulated Spacecraft 1 completes pose adjustment
After when docking, the electromagnetic braking 221 of module 22 can be kept to keep the existing attitude of spacecraft by pitching and attitude.
Claims (6)
1. a suspension type six degree of freedom microgravity environment analog systems, is characterized in that: system includes Simulated Spacecraft, space three
Dimension is actively with moving cell, gesture follow-up and fixed cell, buffering and sensor mounting unit and control unit, buffering and sensor
Installation unit includes that measurement module installed by buffer module and sensor, sensor install measurement module include wireless tilt angle sensor and
Tension pick-up.
2. require described a kind of suspension type six degree of freedom microgravity environment analog systems according to right 1, it is characterized in that: space three
Dimension actively includes triangle fixed block, column, gusset, crossbeam, horizontal linear module and cross motor, vertical linear with moving cell
Module and longitudinal motor and vertical linear module and vertical motor, triangle fixed block is connected to column side and connects for the external world fixing
Column, triangle fixed block, column, gusset and crossbeam constitute space three-dimensional actively with the triangular support configurations of moving cell, laterally
On the crossbeam that linear module and cross motor are installed, vertical linear module and longitudinal motor are arranged on horizontal linear module and horizontal electricity
On the slide block of machine, vertical linear module and vertical motor are arranged on the slide block of vertical linear module and longitudinal motor.
3. require described a kind of suspension type six degree of freedom microgravity environment analog systems according to right 1, it is characterized in that: described appearance
State is servo-actuated and fixed cell includes that rolling module, pitching and attitude keep module, hanger bracket and driftage module, and Simulated Spacecraft leads to
Crossing rolling module to be connected with gesture follow-up and fixed cell, rolling module keeps module to be connected with pitching and attitude, pitching and attitude
Keeping module to be arranged on the both sides of hanger bracket, on hanger bracket, end floor beam center position is provided with driftage module, in rolling module includes
Fishplate bar fixes bolt, jackscrew fixed by rolling bearing, fixing, arc in fishplate bar, rolling bearing, rolling bearing in succession in rolling bearing
Face pad and fixing nut；Outside pitching and attitude keep module to include that electromagnetic braking, pitch linkage plate, pitch bearing are with big bearing
Fixed frame；Driftage module includes go off course extenal fixation, the interior axle of driftage, yaw angle contact bearing and driftage external connection end.
4. require described a kind of suspension type six degree of freedom microgravity environment analog systems according to right 3, it is characterized in that: simulation boat
It device with the connection installation steps of gesture follow-up and fixed cell is:
1) be connected fixing in rolling bearing with spacecraft main body, by cambered surface pad and fixing nut tentatively fix above-mentioned between
Link position, the same mode of opposite side is installed, it is ensured that thread spindle axis fixing in the rolling bearing of both sides is same
On straight line；
2) spacecraft launching site end is connected with spacecraft main body, spacecraft base plate is installed in spacecraft main body, extension bar will be pacified
Install on spacecraft launching site end；
3) by the inner ring of rolling bearing and secure fit in rolling bearing, bolt is fixed by connecting plate in rolling bearing by interior fishplate bar
On screwed hole fixing in being fixed to rolling bearing, fix jackscrew by rolling bearing inner race and wobble shaft by rolling bearing
Holding interior connecting plate fixing connected with in rolling bearing, opposite side is installed with same step；
4) pitch bearing is installed in pitch linkage plate；
5) big bearing extenal fixation frame is fixed on the outer ring of rolling bearing, and big bearing extenal fixation frame is fixed to pitch bearing
On；
6) pitch linkage plate is fixed on hanger bracket；
7) other side is repeated step 4)～6)；
8) the crossbeam level of hanger bracket being fixed, both sides are the fixing rolling locating slot with spacecraft main body in adjusting rolling bearing simultaneously
Link position, until Simulated Spacecraft keep level；
9) pull down the spacecraft base plate of Simulated Spacecraft, tighten fixing nut, be connected fixing in rolling bearing with spacecraft main body,
Spacecraft base plate is installed in spacecraft main body；
10) electromagnetic braking of both sides is arranged on the pitch linkage plate of correspondence；
11) interior for driftage axle is connected with yaw angle contact bearing, is installed to yaw angle contact bearing go off course in extenal fixation, will be partially
Boat external connection end is installed to go off course on interior axle, its lower end and driftage angular contact ball bearing inner ring side fastening, forms driftage single
Unit；
12) yawing unit is installed to the upper end of hanger bracket.
5. require described a kind of suspension type six degree of freedom microgravity environment analog systems according to right 1, it is characterized in that: be described slow
Punching and sensor mounting unit include that measurement module installed by buffer module and sensor, buffer module include lower spring end fixed block,
Stage clip, interior axle, spring overcoat and extended type linear bearing, extended type linear bearing is arranged on spring overcoat upper end, its inwall with
Interior axle coordinates, and stage clip upper end is fixed by lower spring end fixed block with end in contact under extended type linear bearing, lower end, and sensor is pacified
Dress measurement module includes that sensor installing plate, candan universal joint, wireless tilt angle sensor, battery installing plate, tension pick-up are even
Connecing post and tension pick-up, wireless tilt angle sensor is arranged on sensor installing plate, and sensor installing plate is arranged on interior axle,
Interior axle is connected with candan universal joint lower end by pin, and the upper end of cross coupler connects post by tension pick-up and is connected to tension force
On sensor, tension pick-up connection post is also equipped with battery installing plate.
6., according to a kind of suspension type six degree of freedom microgravity environment analog systems described in right 2 or 3 or 5 requirement, it is characterized in that:
Simulated Spacecraft is arranged on gesture follow-up and fixed cell, gesture follow-up and the fixed cell driftage external connection end by module of going off course
It is connected with the spring overcoat of buffering and sensor mounting unit, buffering and the sensor mounting unit connector by tension pick-up
It is connected with the vertical linear module of moving cell and the tooth bar lower end of vertical motor with space three-dimensional.
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