7-DOF (degree of freedom) space manipulator ground microgravity hybrid simulation method

A space manipulator, manipulator technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of large floor space, complex system, insufficient gravity compensation accuracy, etc., to achieve small floor space, easy implementation, The simple effect of the agency

Inactive Publication Date: 2013-06-12
BEIJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Although the hanging wire counterweight method can realize the gravity compensation in the three-dimensional space of the

Method used

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  • 7-DOF (degree of freedom) space manipulator ground microgravity hybrid simulation method
  • 7-DOF (degree of freedom) space manipulator ground microgravity hybrid simulation method
  • 7-DOF (degree of freedom) space manipulator ground microgravity hybrid simulation method

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Embodiment Construction

[0025] The present invention will be further described below in conjunction with accompanying drawing.

[0026] Step 1: If figure 1 The basic model of the static balance based on the spring is shown, and the principle of the static balance based on the spring is firstly explained.

[0027] When it is not affected by other external forces, it can be known from the Lagrange equation:

[0028] τ = d dt ( ∂ T ∂ θ · ) - ∂ T ∂ θ + ∂ V ∂ θ = 0 - - - ( 1 ) ...

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Abstract

The invention discloses a space manipulator ground microgravity hybrid simulation method, and particularly relates to a realization method for ground-based simulation of a space microgravity environment by a 7-DOF space manipulator. Gravity compensation is realized at the middle part of the 7-DOF space manipulator by adopting the gas flotation method; the middle part of the 7-DOF space manipulator is supported on two gas flotation feet; shoulder parts and wrist parts at two ends as well as an end effector adopt static balance mechanisms to realize gravity compensation; two static balance mechanisms are designed, respectively named as a shoulder part static balance mechanism and a wrist part static balance mechanism, and used for realizing gravity compensation for a 2-DOF manipulator formed by a shoulder joints 1 and 2 and the end effector as well as gravity compensation for a 3-DOF manipulator formed by wrist joints 5, 6 and 7 and the end effector, as a result, gravity compensation for the whole space manipulator system is realized.

Description

technical field [0001] The invention relates to a research on a ground microgravity hybrid simulation method of a space manipulator, in particular to a method for realizing a space manipulator with seven degrees of freedom to simulate a space microgravity environment on the ground. Background technique [0002] With the development of science and technology, space robots play an increasingly important role in human exploration of space activities. They can not only assist or replace astronauts in performing traditional on-orbit operations such as space station assembly, maintenance, and component replacement, but also perform fuel replenishment. , Spacecraft surveillance and acquisition and other new on-orbit operations. As an important part of the space robot system, the space manipulator has the difficulty and high risk of multi-degree-of-freedom control, which is the key to the success or failure of the on-orbit operation mission. Therefore, before being launched into or...

Claims

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Application Information

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IPC IPC(8): B25J9/06B25J9/08
Inventor 叶平何雷孙汉旭贾庆轩宋爽刘文旭
Owner BEIJING UNIV OF POSTS & TELECOMM
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