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Precisive determining system of mechanical arm location and gesture in space

A space manipulator, precision testing technology, applied in mechanical measurement devices, mechanical devices, measurement devices, etc., can solve the problems of difficult debugging, complex structure, low safety and reliability, etc., to achieve low measurement costs, improve work efficiency, Test for easy effects

Inactive Publication Date: 2008-01-23
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Aiming at the problems that existing systems for testing space manipulators have complex structures, difficult debugging, low safety and reliability, and existing air flotation testing systems can only realize two-dimensional movement, the present invention provides a simple structure, easy debugging, and safe A test system with high reliability and three-dimensional motion of the space manipulator at the same time

Method used

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  • Precisive determining system of mechanical arm location and gesture in space
  • Precisive determining system of mechanical arm location and gesture in space
  • Precisive determining system of mechanical arm location and gesture in space

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specific Embodiment approach 1

[0007] Specific implementation mode 1: The traditional air flotation system can only realize the two-dimensional plane movement of the system, and cannot realize the space movement required by the space manipulator. In order to test the pose accuracy of the space manipulator, all joints of the space manipulator need to move together, so that the resulting pose accuracy is the pose accuracy of the entire space manipulator. Therefore, this embodiment provides a system for testing the pose accuracy of a manipulator with spatial three-dimensional motion. The space manipulator that can be tested by the test system described in this embodiment has six degrees of freedom and can realize The robot arm with three-dimensional movement in space can be any space robot arm capable of three-dimensional movement, or it can be a space robot arm with six rotating joints as shown in Figure 2, and the space robot arm VII shown in Figure 2 , has applied for a patent, the application number is 200...

specific Embodiment approach 2

[0019] Specific embodiment two: with reference to Fig. 1, Fig. 3, Fig. 4, Fig. 5, an adjusting bolt 14 (referring to Fig. 4 ) is arranged between the second bracket 8 and the screw rod 6 on the rotating support system III described in the present embodiment, which can By adjusting the relative position of screw rod 6, nut 7 and bolt 14 and second support 8, adjust the coaxiality of mechanical arm support shaft 4 and joint four 25; One end, the other end of the counterweight connector 15 is fixed to the second bracket 8 through the nut 7 and the screw rod 6, through the connection of the counterweight connector 15, the upper end of the counterweight 9 can be fixed conveniently.

specific Embodiment approach 3

[0020] Specific embodiment three: Referring to Fig. 1 and Fig. 3, the first connecting rod 16 on the end target V in this embodiment is consistent with the axis of the space manipulator VII, and the coordinate system can be conveniently established when it is consistent with the axis of the space manipulator VII; Another second connecting rod 17 is fixed on the connecting rod 16, and the included angle α between the second connecting rod 17 and the first connecting rod 16 is an angle greater than 0 degree and less than 180 degree; A metal ball 45 is respectively fixed on the two ends of 16 and one end of the second connecting rod 17, and the function of the metal ball 45 is to establish an auxiliary measurement coordinate system; Flange connection or direct screw connection.

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Abstract

A system for measuring attitude accuracy of space mechanical arm comprises three-coordinate measurer, fixing unit set above three-coordinate measurer and connected with space mechanical arm, rotary support unit, air float support unit, end target mark and base target mark.

Description

technical field [0001] The invention relates to a system for testing a space manipulator. Background technique [0002] The joint drive torque of the space manipulator system is usually very limited, and it is difficult or even impossible to work normally under the gravity environment of the ground. In order to test the space manipulator system on the ground, it is necessary to design relevant test equipment. So far, the space manipulator ground test systems designed and adopted by scientific research institutions around the world mainly include hanging wire counterweight, water flotation, air flotation, and free fall. These methods have their own advantages and disadvantages. Among them, the hanging wire counterweight method (Cameron University) can realize the six-degree-of-freedom movement of the robotic arm, and has fewer restrictions on the movement of the robotic arm. However, the hanging wire method is complex and difficult to debug. The safety and reliability are po...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B5/008
Inventor 史士财刘宏高晓辉金明河谢宗武
Owner HARBIN INST OF TECH
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