A study of a gravity compensation system for the spacecraft prototype test by using multi-robot system

  • Ayana Nakayama
  • Tomohiro Hirata
  • Katsuyoshi TsujitaEmail author
Original Article


In our research, we proposed a system using multi-robot as a gravity compensation system for a ground test of a spacecraft with a deployable structure. The advantage of the system is its low cost and versatility. When the robots support the beam at the nodes, we can expect to simulate the free vibration of the space structure using the proposed system under gravity. In this study, supporting a uniform, flexible beam with vibration was first implemented to verify the performance of the proposed system. Then we investigated the performance of the system applying to the mock-up model of a spacecraft with a deployable structure as a demonstration.


Deployable space structure Prototype test Gravity compensation Multi-robot 



We would like to express my special thanks of gratitude to Dr. Naoko Kishimoto who gave me very important advice and cooperation.


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Copyright information

© International Society of Artificial Life and Robotics (ISAROB) 2019

Authors and Affiliations

  • Ayana Nakayama
    • 1
  • Tomohiro Hirata
    • 1
  • Katsuyoshi Tsujita
    • 1
    Email author
  1. 1.Department of Electrical and Electronic Systems EngineeringOsaka Institute of TechnologyOsakaJapan

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