Six-dimensional position and orientation precision test method of space mechanical arm based on air flotation system
A technology of a space manipulator and a testing method, which is applied in the direction of measuring devices, instruments, and optical devices, and can solve problems such as small joint drive torque, low arm stiffness, and ground testing problems
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specific Embodiment approach 1
[0050] Specific implementation mode one: as figure 1 As shown, the tested space manipulator in the test method described in this embodiment consists of the first joint 1, the second joint 2, the first arm 7, the third joint 3, the fourth joint 4, the second arm 8, The fifth joint 5 and the sixth joint 6 are sequentially connected to form; the test method is realized based on an air flotation system including an air flotation platform 11, an air foot 12, a supporting wheel 13, a manipulator support frame 14 and a balance weight 15;
[0051] The concrete process of described test method is:
[0052] Step A, expand the space manipulator and install it on the air flotation system to simulate the microgravity environment, and install the 6D sensor in the 6D laser tracker:
[0053] Step A1, release the constraint of the base flange part of the space manipulator, and place the space manipulator released from the constraint on the upper end surface of the air-floating platform 11 (th...
specific Embodiment approach 2
[0103] Specific embodiment two: In step D of this embodiment, the specific process of six-dimensional pose accuracy calculation is as follows:
[0104] Step D1, calculate the absolute position accuracy of the six-dimensional pose of the space manipulator:
[0105] The combined absolute position error of the combined measured value of the k-th measured configuration i and j is:
[0106] E k ij = ( x k ij - x k ) 2 + ( y k ij - y k ) 2 + ( ...
specific Embodiment approach 3
[0117] Specific implementation mode three: as figure 1 As shown, in step A3 of this embodiment, a ball joint 16 is provided between the lower end of the air foot 12 and the air bearing platform 11 .
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