Abstract: A ground simulation device and method for an on-orbit manipulation of a space manipulator is provided. The ground simulation device includes: a dual-arm robot, configured to simulate the space manipulator operating a target object; a suspension device, including a fixed post and passive rods, where the passive rods are movably connected with a top end of the fixed post, and the target object is suspended to the passive rods; and a simulation platform, configured to fix the dual-arm robot and the suspension device thereon. The ground simulation device provides the passive rods on the suspension device and suspends the target object to the passive rods, thus overcoming the gravity of the target object. In addition, the passive rods can drive the target object to move under an influence of an external force, achieving a similar suspension effect to that in space, and providing a desired, safe, and reliable implementation effect.

Abstract: A ground simulation device and method for an on-orbit manipulation of a space manipulator is provided. The ground simulation device includes: a dual-arm robot, configured to simulate the space manipulator operating a target object; a suspension device, including a fixed post and passive rods, where the passive rods are movably connected with a top end of the fixed post, and the target object is suspended to the passive rods; and a simulation platform, configured to fix the dual-arm robot and the suspension device thereon. The ground simulation device provides the passive rods on the suspension device and suspends the target object to the passive rods, thus overcoming the gravity of the target object. In addition, the passive rods can drive the target object to move under an influence of an external force, achieving a similar suspension effect to that in space, and providing a desired, safe, and reliable implementation effect.