Six-dimensional position and orientation precision test method of space mechanical arm based on air flotation system

Abstract

The invention provides a six-dimensional position and orientation precision test method of a space mechanical arm based on an air flotation system, relating to a position and orientation precision test method of a space mechanical arm. In order to imitate a microgravity environment so as to test the position and orientation precision of the space mechanical arm at the ground, the method mainly comprises the following steps of: spreading the space mechanical arm and arranging the space mechanical arm on the air flotation system to imitate the microgravity environment; measuring and calculating the transformation matrix of a second target relative to a first target on an installation flange of the mechanical arm; measuring and calculating the transformation matrix of a third target relative at the end of the mechanical arm relative to the second target; combining with the two position and orientation matrixes to obtain a coordinate transformation matrix of an end tool coordinate system E under a mechanical arm installing coordinate system M so as to test the position and the orientation of the end of the space mechanical arm; comparing the tested position and orientation with the theoretical position and orientation to obtain the position and orientation precision of the end of the space mechanical arm. The method imitates and reappears the space microgravity environment with the air flotation system, and guarantees the ground position and orientation precision tested by the developed space mechanical arm.

Description

technical field The invention relates to a method for testing the pose accuracy of a space manipulator, and relates to the technical field of space manipulator applications. Background technique With the advancement of technology, human activities are constantly expanding into space. According to statistics, an average of 80 to 130 satellites are launched each year in the world, but 2 to 3 satellites fail to enter orbit correctly, and among the satellites correctly entered orbit, 5 to 10 satellites are in the early stages of life (the first 30 days after orbit) ) that fails, which leads to huge economic losses. In order to recover the losses as much as possible, various countries are researching on-orbit service technology with space manipulators as the means of operation for the purpose of satellite maintenance and life extension. The current in-orbit services mainly include ORU (Orbital replacing unit) replacement, fuel supply, cleaning of abandoned satellites, etc. An ...

AI Technical Summary

Problems solved by technology

Since the space manipulator is designed for the microgravity environment in space, its joint drive torque is small and the stiffness of the arm is low. However, due to the influence of gravity on the ground test, the six joints of the space manipulator cannot follow the plan. The path moves to the specified pose, which makes the ground test of the six-dimensional pose accuracy of the space manipulator a technical problem

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