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Clearance space-contained manipulator simulation device

A technology of a space manipulator and a simulation device, which is applied in the aerospace field to achieve the effect of ensuring reliability and accuracy

Active Publication Date: 2017-04-19
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that there is no simulation device specially used for studying the influence of space manipulator tooth side clearance on mechanical dynamics, the present invention further proposes a space manipulator simulation device with gaps

Method used

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  • Clearance space-contained manipulator simulation device
  • Clearance space-contained manipulator simulation device
  • Clearance space-contained manipulator simulation device

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Experimental program
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specific Embodiment approach 1

[0008] Specific implementation mode 1: Combination figure 1 To illustrate this embodiment, the device for simulating a mechanical arm with gap space in this embodiment includes a test bench 1, an air bearing table 2, an arm rod 4, a mass adjustable load mechanism 5, a base 6 and three joints 3, One end of the rod 4 is connected to the base 6 through a joint 4, the base 6 is fixedly installed on the test bench 1, the other two joints 3 are installed on the arm 4, and the other end of the arm 4 is connected to the mass adjustable load mechanism 5. The lower ends of the mass adjustable load mechanism 5 and the other two joints 3 are each provided with an air floatation mechanism 7, and the mass adjustable load mechanism 5 and the other two joints 3 can both pass through the air floatation mechanism 7 in the air floatation table 2 on the move.

[0009] In this embodiment, a rectangular profile connection is adopted between the joint 3 and the arm 4, and the profile connection adopts ...

specific Embodiment approach 2

[0010] Specific implementation manner two: combination figure 2 To illustrate this embodiment, each joint 3 of the mechanical arm simulation device with clearance space described in this embodiment includes an active shaft system 3-1, a driven shaft system 3-2 and a joint housing 3-3, and an active shaft system 3 -1 and the driven shaft system 3-2 are installed side by side on the joint housing 3-3. The joint housing 3-3 is made of carbon fiber board, and is connected and fixed with the internal transmission and measuring device by connecting screws. The other components and connection relationships are the same as in the first embodiment.

specific Embodiment approach 3

[0011] Specific implementation mode three: combination Figure 3 to Figure 6 To illustrate this embodiment, the driving shaft system 3-1 of a manipulator simulation device with clearance space described in this embodiment includes a motor 3-1-1, a reducer 3-1-2, a driving gear 3-1-3 and The shaft end retaining ring 3-1-4, the driving gear 3-1-3 is installed on the output shaft of the reducer 3-1-2 through the shaft end retaining ring 3-1-4, and the input of the reducer 3-1-2 The shaft is connected with the rotating shaft of the motor 3-1-1; the driven shaft system 3-2 includes the driven gear 3-2-1, the connecting shaft 3-2-2, the upper connecting flange 3-2-3, and the torque Speed ​​sensor 3-2-4, sensor housing 3-2-5, lower connecting flange 3-2-6, output shaft 3-2-7 and bearing seat 3-2-8, driven gear 3-2- 1 Set on the connecting shaft 3-2-2, the connecting shaft 3-2-2 is connected to the upper end of the torque speed sensor 3-2-4 through the upper connecting flange 3-2-3, t...

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Abstract

The invention provides a clearance space-contained manipulator simulation device and relates to a simulation device, particularly a clearance space-contained manipulator simulation device. The device solves the problem in the prior art that no special simulation device for studying the influence of a spatial manipulator gear backlash on the mechanical dynamics is available. The device comprises a test bench, an air-floating platform, an arm rod, a mass-adjustable load mechanism, a base, and three joints. One end of the arm rod is connected with the base through one joint. The base is fixedly mounted on the test stand. The other two joints are mounted on the arm rod. The other end of the arm rod is connected with the mass-adjustable load mechanism. The mass-adjustable load mechanism and the lower ends of the other two joints are respectively provided with one air-floating mechanism. The mass-adjustable load mechanism and the other two joints are capable of floating on the air-floating platform through air-floating mechanisms. The device of the invention belongs to the field of aerospace.

Description

Technical field [0001] The invention relates to a simulation device, in particular to a simulation device of a mechanical arm containing a gap space, and belongs to the field of aerospace. Background technique [0002] The space manipulator is an important tool for spacecraft in-orbit services, with broad application prospects and great significance for future space exploration. The space manipulator mainly uses gear transmission, which inevitably introduces the ulnar gap, which is one of the important reasons for joint flexibility. Joint flexibility will have an important impact on the motion state of the end of the space manipulator. Therefore, the space manipulator relies on an accurate flexible space manipulator model in structural design, dynamic analysis and control system design. The establishment of this model mainly uses It is a method that combines theoretical model and experimental correction. The establishment of a space manipulator simulation device with tooth back...

Claims

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Application Information

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IPC IPC(8): G09B25/00
CPCG09B25/00
Inventor 魏承谷海宇田健张瑞雄赵阳
Owner HARBIN INST OF TECH
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