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Joint type manipulator low gravity compensation system

A compensation system and gravity compensation technology, applied in the field of simulation devices for space navigation conditions, can solve problems such as difficulty in realizing the simulation test of test objects, and achieve the effects of ensuring accurate determination and reference, and improving compensation accuracy

Active Publication Date: 2014-12-03
TIANJIN AEROSPACE ELECTROMECHANICAL EQUIP RES INST
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  • Abstract
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AI Technical Summary

Problems solved by technology

At present, the commonly used suspension gravity compensation system is generally aimed at the movement of a single object (or can be regarded as a single object), and only uses a single X-Y form of Cartesian coordinate motion mechanism to track the target. The test object of arm suspension and multi-suspension point coordinated movement is simulated

Method used

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  • Joint type manipulator low gravity compensation system
  • Joint type manipulator low gravity compensation system
  • Joint type manipulator low gravity compensation system

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Embodiment Construction

[0027] Specific embodiments of the invention will be described in detail below in conjunction with the accompanying drawings.

[0028] Such as figure 1 As shown, the articulated robotic arm includes a base 11, a rotary axis 12, a pitch axis A13, an arm A14, a pitch axis B15, and an arm B16 connected in sequence. , B(13,15) perform pitching motion.

[0029] Such as figure 2 As shown, the low-gravity compensation system of the articulated manipulator includes a support frame 21. The support frame 21 is composed of four pillars 316 and an upper platform 317 to provide support for the entire low-gravity compensation system. The upper platform 317 has an interface. Connect with the right-angle tracking platform 22; the right-angle tracking platform 22 is installed on the upper platform 317 of the support frame 21, and the top of the right-angle tracking platform 22 is installed with a gravity compensation system A231; the polar coordinate tracking platform 24 is installed on the...

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Abstract

The invention provides a joint type manipulator low gravity compensation system comprising a support, an upper platform, a right-angle type tracking platform, a polar-coordinate type tracking platform, a gravity compensation system body, a suspending device and a control system. The upper platform is mounted on the support, the right-angle type tracking platform is capable of moving corresponding to the X and Y directions of the upper platform, the polar-coordinate type tracking platform is mounted below the right-angle type tracking platform and is capable of rotating around the Z-axis of the right-angle type tracking platform or moving in the X and Y directions with the polar-coordinate type tracking platform, the gravity compensation system body is mounted on the top of the right-angle type tracking platform and the bottom of the polar-coordinate type tracking platform, the suspending device is connected between the gravity compensation system body and a joint type manipulator, and the control system is use for monitoring and controlling the components. The right-angle type tracking platform and the polar-coordinate type tracking platform are combined, multiple joint manipulator complex movement tracking is implemented, the system can be adaptive to movement tracking of manipulators of carriers with different postures, multiple manipulator suspension and multiple suspending point coordinated movement are implemented, gravity compensation is low, and accuracy is high.

Description

technical field [0001] The invention belongs to the field of simulators for space navigation conditions, and in particular relates to a micro-low gravity compensation system. Background technique [0002] With the in-depth development of my country's aerospace industry, the space manipulator has gradually become an important tool for completing space tasks. In order to verify whether the manipulator can work normally in space and fully ensure the performance of the manipulator in the space environment, it is necessary to conduct a micro-low gravity simulation test on it. The low-gravity simulation test of the manipulator is to simulate the force test of the manipulator in the low-gravity space environment in the earth's gravity environment. The basic principle is to use the gravity compensation system to provide the gravity difference of the manipulator to realize the simulation of the low-gravity environment in space. . Micro-low gravity compensation system is an importan...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00B64G7/00
Inventor 高奔刘鹏陈建鹏李振新
Owner TIANJIN AEROSPACE ELECTROMECHANICAL EQUIP RES INST
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