☆ 4.4 Article

Robot-Assisted Gravity Offloading Testing of Aerospace Structures

JOURNAL OF TESTING AND EVALUATION (2023)

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Article Engineering, Multidisciplinary

Gravity compensation method via magnetic quasi-zero stiffness combined with a quasi-zero deformation control strategy

Zhou Rui et al.

Summary: This article proposes a novel gravity compensation method characterized by quasi-zero stiffness plus quasi-zero deformation (QZS-QZD). It utilizes a magnetic negative stiffness spring in parallel with positive springs and aerostatic bearing to form a QZS supporting unit, which can eliminate disturbance forces. The QZD control strategy is applied to ensure the force error of gravity compensation to be less than sub-newtons and independent of the payload. The method significantly improves the accuracy of gravity compensation compared to conventional approaches.

SCIENCE CHINA-TECHNOLOGICAL SCIENCES (2022)

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Article Engineering, Aerospace