A static balancing mechanism with continuously variable payload capacity for space docking simulation

In this paper, a novel static balancing mechanism is presented to realize gravity compensation in the application of the space docking simulation. By optimizing the relative positions of the compensation pulley block and suspension pulley block, the proposed gravity balancing device achieves static balance in geometry and hence is applicable to continuous variable payload environments. The static balancing mechanism is developed firstly, and its design philosophy is described in detail. By adopting the genetic algorithm (GA) and steepest descent method (SDM) simultaneously, the optimal structural configuration with small trajectory fluctuation in the direction of gravity is obtained. Furthermore, the effect of structural parameters on gravity compensation performance is evaluated. Experimental results and error analysis demonstrate the gravity balancing capability, which indicates the rationality and effectiveness of the proposed device in the space docking condition.