Space manipulator air floating type ground simulation system performance evaluation aided design method

A space manipulator, air-floating simulation technology, applied in the field of measurement

Active Publication Date: 2013-11-27
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

After searching the literature, it is found that there is no systematic analysis method for evaluating the effectiveness of the space manipulator air-floating ground simulation system

Method used

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  • Space manipulator air floating type ground simulation system performance evaluation aided design method
  • Space manipulator air floating type ground simulation system performance evaluation aided design method
  • Space manipulator air floating type ground simulation system performance evaluation aided design method

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] against figure 1 The schematic diagram of the air-flotation simulation system of the space manipulator shown in the present invention is an auxiliary design method for the performance evaluation of the air-flotation ground simulation system of the space manipulator, which is realized by the following aspects: (2) In the case of the introduction of air foot, analyze the influence of air foot on the effectiveness of algorithm simulation.

[0031] The specific evaluation steps are as follows:

[0032] Step 1: Give the parameters of the friction force and moment of the air-floating simulation equipment, and determine the critical value α of the inclination angle of the air-floating platform accordingly m =arcsin(3f s / Mg)≈3f s / Mg, where f s is the maximum static friction force, Mg is the weight of the air bearing table;

[0033] Step 2: Use simulation software, usually using matlab, to perform numerical simulation of the dynamics of the manipulator system in the actua...

Embodiment 2

[0046] combine figure 1 , the index requirement of the inclination angle of the air flotation platform analyzed in the present invention is calculated as follows: according to experience, set the parameters of the air flotation friction force and moment, and the air flotation friction force is represented by static friction+Coulomb+viscosity+Stribeck friction, which needs to be set The given parameters include the Coulomb friction force f c , the viscosity coefficient f v , the maximum static friction force f s , Stribeck velocity v s , empirical constant δ, friction torque constant M ds , the range of random noise w(t), then the critical value of the inclination angle of the air bearing platform can be calculated as α m =arcsin(3f s / Mg)≈3f s / Mg. Therefore, the inclination angle index of the air bearing table should be less than α during design m . Assumed maximum static friction force f s is 0.008N, and the mass of the simulation equipment is 425Kg, then the criti...

Embodiment 3

[0049] combine figure 2 , Table 1, the present invention passes through the dynamics model of the space manipulator proposed in the literature "Space 3R Robot Workspace Analysis" (Journal of Astronautics, Volume 28, No. 5, 1390-1393 pages) by Xu Wenfu et al., and this The improved dynamic model of introduced air-floating friction and air-floating table tilt after the invention is expressed as:

[0050] H b H bm H bm T H m x b · ...

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Abstract

The invention discloses a space manipulator air floating type ground simulation system performance evaluation aided design method. The method comprises the following steps of (1) performing confidence degree analysis of a simulation experiment under air floating friction force, moment of force and the combined action of an oblique air floating platform; (2) analyzing the influence of air floating to the effectiveness of algorithm emulation under the air floating introduction condition. The space manipulator air floating type ground simulation system performance evaluation aided design method has the advantages of being simple, low in cost and easy to achieve and can serve as a reference basis in the air floating type ground simulation system design process. The method can be also used for performance evaluation and analysis of other types of space manipulator ground simulation systems.

Description

technical field [0001] The invention relates to measurement technology, in particular to an aided design method for effectiveness evaluation of a space manipulator air-floating ground simulation system. Background technique [0002] The space environment is very different from that on the ground. In order to ensure the successful execution of the manipulator’s on-orbit mission, it is necessary to conduct sufficient experiments on the ground to verify the effectiveness of trajectory planning and control algorithms before its launch. The air-floating ground simulation system counteracts the influence of ground gravity through air flotation. The air-floating ground simulation system has the advantages of complete gravity compensation, short construction period, low cost, and unlimited experiment time. It has been applied to many Robotic arm ground experiment. For the first time, Stanford University in the United States used the air-floating simulation system to carry out the g...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
Inventor 马广程夏红伟翟彦斌王常虹邓雅曲耀斌
Owner HARBIN INST OF TECH
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