卫星对接捕获的地面微重力验证系统

以航天器（卫星等）在轨服务的对接捕获操作为研究背景，介绍了两卫星对接捕获系统及其对接捕获的接触动力学特性。基于硬件在环仿真原理,采用两地面工业机器人建立了两卫星对接捕获操作的地面微重力验证系统，模拟了在太空微重力环境下两卫星对接捕获操作过程中的接触碰撞的情况。利用该地面微重力验证系统，通过专门针对卫星火箭发动机喷嘴的接捕获机构实现了两卫星对接捕获操作。实验结果验证了在空间微重力环境下，基于硬件在环仿真原理建立的地面验证系统对卫星对接捕获验证实验的有效性。

Ground Micro-gravity Verification System for the Docking and Capturing of Two Satellites

Based on the background of the docking and capturing operation of on-orbit servicing spacecraft (satellites, etc.), the paper describes in detail the docking and capturing system of and the contact dynamics characteristics of two satellites. The hardware-in-the-loop simulation method is applied to establishing a ground microgravity experimental system for two satellites docking and capturing based on two ground industrial robots. The system emulated the situation of the contact collision during the docking and capturing operations in space microgravity environment. Using the ground microgravity verification system, the docking and capturing operation of two satellites was realized through a capturing mechanism specifically for the nozzle of the satellite rocket engine. The experiment results verified the effectiveness of the ground verification system based on the hardware-in-the-loop simulation for satellites docking and capturing verification experiments in space microgravity environment.