Simulation study on supporting condition of a robotic gravity compensation system for the prototype test of spacecraft

In the field of aerospace engineering, gravity compensation of the prototype test is one of the crucial topics. The target of our research is to develop a prototype test system for deployable membrane space structures by using multi robots. In this study, a robotic supporting system for the spacecraft is proposed and is controlled by the force control so as to compensate gravity and deformation. The gravity compensation system requires appropriate supporting conditions of high fidelity of motion in the space without disturbing deployment motion and deformation. In this study, we investigated suitable positions of supporting points through numerical simulation.