A Zero Position Calibration Device for Large Space Manipulator Joints

Abstract

The invention relates to a zero calibration device for a joint of a large-scale space manipulator, which belongs to the field of integrated assembly and testing of a space drive mechanism; a support base, a first moving module, a second moving module, a third moving module, a joint shell, and a connecting female assembly and connect the male assembly; the second mobile module is arranged in the middle of the upper surface of the support seat; the first mobile module is arranged on the upper surface of the support seat and is located on one side of the second mobile module; the third mobile module is arranged on the support seat and is located on the other side of the second mobile module; the joint shell is a hollow cuboid shell structure; the joint shell is axially and vertically suspended and fixed on the external wall hanging mechanism; the connecting female assembly is installed on the outer wall of the joint shell On the side; the connecting male component is installed at the bottom of the joint shell; the invention realizes the rapid measurement and calibration of the joint zero position of the large-scale space manipulator, and improves the calibration efficiency and calibration accuracy of the joint zero position.

Description

technical field [0001] The invention belongs to the field of integrated assembly and testing of a space driving mechanism, and relates to a zero position calibration device for a joint of a large space manipulator. Background technique [0002] The manipulator joint is the core component of the space manipulator. It is the basis for the manipulator to move flexibly and realize various motion functions. It is the key to ensure the manipulator's motion accuracy, connection stiffness, output torque and other functions and performance indicators. The joints provide mechanical and electrical synchronous fast connection, cable transmission and other auxiliary functions for the robotic arm. [0003] The joint has the characteristics of large output torque, high output precision and integration of electromechanical and heat, and is a typical multi-stage planetary reduction mechanism. The joint structure is mainly composed of motor components, joint drive transmission system, resolv...

AI Technical Summary

Problems solved by technology

[0005] At present, the zero calibration of the joint drive mechanism is mainly carried out by manual measurement-adjustment-measurement iteration, which is inefficient and cannot guarantee the calibration accuracy.

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