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Ground microgravity equivalent experimental device and method of six-freedom-degree spatial mechanical arm

A space robotic arm and experimental device technology, applied in educational appliances, instruments, teaching models, etc., can solve the problems of less freedom and large interference, and achieve the effect of improving equivalence and low interference level.

Active Publication Date: 2016-05-04
BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS +1
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  • Abstract
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Problems solved by technology

[0004] The technical solution problem of the present invention is: to overcome the deficiencies in the prior art, provide the equivalent experimental device and experimental method of the ground microgravity of the six-degree-of-freedom space manipulator, and solve the problem that the traditional ground simulation experiment device of the space manipulator has large interference force or free It can simulate the impact on other satellite loads and equipment during the movement process, which greatly improves the experimental coverage and experimental effect of the equivalent simulation experiment of the microgravity environment performed by the space manipulator on the ground.

Method used

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  • Ground microgravity equivalent experimental device and method of six-freedom-degree spatial mechanical arm

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Embodiment Construction

[0037] Such as figure 1 As shown, each key of the space manipulator is marked as b1 joint, b2 joint, b3 joint, b4 joint, b5 joint and b6 joint. The traditional hanging wire device can realize the movement of multiple degrees of freedom, but the interference force is very large; The air flotation device has little interference, but it only supports the movement of the two degrees of freedom of the b2 joint and b3 joint of the space manipulator. Among them, (a) is the main view, and (b) is the perspective view.

[0038] The present invention proposes a six-degree-of-freedom space manipulator ground microgravity equivalent experimental device, including a bearing device A, a support air foot device B and a roller air foot device C;

[0039] Such as figure 2 As shown, the bearing device A includes a bearing assembly 1, a simulated satellite load mounting plate 2 and a counterweight 3. The bearing assembly includes a bearing seat 11, a bearing 12 located on the bearing seat and ...

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Abstract

The invention relates to a ground microgravity equivalent experimental device and method of a six-freedom-degree spatial mechanical arm. The equivalent experimental device comprises a bearing device A, a support air foot device B and a roller air foot device C. The bearing device A realizes simulated microgravity environment equivalent motion of joints of the mechanical arm b1, the roller air foot device C supports motion in 3 freedom degrees and rolling motion in one freedom degree of the plane in the simulated microgravity environment of a supported arm rod, and the support air foot device B supports motion in three freedom degrees in the plane in the simulated microgravity environment of the supported joints. The equivalent experimental device is used for test, the motion states of the joints of the spatial mechanical arm and information of sensors and devices on a satellite load installation plate are detected to effectively simulate the work state of the spatial mechanism arm in the weight loss environment on the ground, the problem that a traditional ground simulated experimental device of the spatial mechanical arm is high in interference or few in freedom degree is solved, and influence on other satellite loads and devices in the motion process can be also simulated.

Description

technical field [0001] The present invention relates to a ground microgravity equivalent experimental device and experimental method of a space manipulator, and in particular to a space for a six-degree-of-freedom space manipulator working in a space weightless environment to perform all six-degree-of-freedom kinematics simulation experiments on the ground The invention relates to an equivalent experimental device and an experimental method of microgravity kinematics on the ground of a manipulator, belonging to the field of ground experiments of space manipulators. Background technique [0002] In the process of studying the kinematics and dynamics of the space manipulator, it is necessary to effectively simulate the working state of the space manipulator in the weightless environment on the ground. [0003] At present, two kinds of devices are mainly used in the ground simulation experiment of the space manipulator: the hanging wire device and the planar air flotation devic...

Claims

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Application Information

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IPC IPC(8): G09B25/02
CPCG09B25/02
Inventor 王燕波范庆麟刘嘉宇许剑杨涛
Owner BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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