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Gravity Compensation Device for Six-DOF Space Manipulator with Three Rotating Arms in Series Suspension

A technology of space manipulator and gravity compensation, which is applied in manipulators, simulation devices of space navigation conditions, transportation and packaging, etc., can solve the problem of no six-degree-of-freedom space manipulator, etc., and achieve good scalability and strong operability , the effect of simple structure

Active Publication Date: 2016-04-20
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In summary, there is currently no gravity compensation system for six-degree-of-freedom space manipulators to perform space simulation experiments on the ground

Method used

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  • Gravity Compensation Device for Six-DOF Space Manipulator with Three Rotating Arms in Series Suspension
  • Gravity Compensation Device for Six-DOF Space Manipulator with Three Rotating Arms in Series Suspension

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0015] Specific implementation mode one: as Figure 1~2 As shown, the gravity compensation device of the three-rotation arm series suspension type six-degree-of-freedom space manipulator in this embodiment includes a main rotation arm mechanism 11, a large rotation arm mechanism 12, a small rotation arm mechanism 13 and three sets of hanging wire counterweight systems 14, The main swing arm mechanism 11, the large swing arm mechanism 12 and the small swing arm mechanism 13 are sequentially connected;

[0016] The main rotary arm mechanism 11 includes a main rotary shaft 11-1, a main rotary arm 11-2 and a fixed forearm 11-3. The main rotary shaft 11-1 is vertically arranged and is the same as the first joint 2 of the six-degree-of-freedom space manipulator. shaft setting, the upper end of the main rotary shaft 11-1 is fixed on the base, the fixed forearm 11-3 is horizontally arranged, and one end of the fixed forearm 11-3 is fixed on the axis of the main rotary shaft 11-1, and ...

specific Embodiment approach 2

[0022] Specific implementation mode two: as Figure 1~2 As shown, the hanging wire counterweight system 14 of this embodiment includes a suspension rope 14-1, a fixed pulley 14-2 and a counterweight 14-3, a fixed forearm 11-3, a large slewing arm 12-2 and a small slewing arm 13 -2 is equipped with a fixed pulley 14-2, each fixed pulley 14-2 is equipped with a suspension rope 14-1, one end of suspension rope 14-1 is connected with counterweight 14-3, suspension rope 14- The other end of 1 is connected with the corresponding six-degree-of-freedom spatial manipulator link. With such a design, the structure is simple, and it is convenient to adjust the counterweight of each lifting point, which provides convenience for gravity compensation. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0023] Specific implementation mode three: as figure 1 As shown, the gravity compensation device in this embodiment also includes a first bushing 15, the first bushing 15 is set on the main rotary shaft 11-1, and one end of the main rotary arm 11-2 is fixed on the first bushing 15 on the outer wall. With such a design, the main rotating shaft 11-1 can conveniently rotate around the main rotating arm 11-2, and the structure is simple, convenient and flexible. Other compositions and connections are the same as those in Embodiment 1 or 2.

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Abstract

The invention discloses a three-revolving arm tandem suspension type six degrees of freedom space manipulator gravity compensation device and relates to a gravity compensation device. The three-revolving arm tandem suspension type six degrees of freedom space manipulator gravity compensation device solves the problem that no six degrees of freedom space manipulator can carry out a gravity compensation system of a spatial simulation experiment on the ground in the prior art. One end of a fixed small arm is fixedly mounted on an axis of a main rotating shaft; one end of a main rotating arm is rotatably connected with the main rotating shaft; the other end of the main rotating arm is rotatably connected with the upper end of a big rotating shaft; one end of a big rotating arm is mounted on the lower end of the big rotating shaft; the other end of the big rotating arm is connected with a small rotating arm; one end of the small rotating arm is mounted on the lower end of a small rotating shaft; the fixed small arm is connected with a first connecting rod of a six degrees of freedom space manipulator by a set of hang spring counterweight system; the big rotating arm is connected with a second connecting rod of the six degrees of freedom space manipulator by a set of hang spring counterweight system. The three-revolving arm tandem suspension type six degrees of freedom space manipulator gravity compensation device is used for gravity compensation of the spatial simulation experiment which is carried out by the suspension type six degrees of freedom space manipulator on the ground.

Description

technical field [0001] The invention relates to a space manipulator gravity compensation device, in particular to a six-degree-of-freedom space manipulator gravity compensation device suspended in series with three rotary arms. Background technique [0002] The six-degree-of-freedom space manipulator subsystem is an important part of the space robot system. In the laboratory development stage, the functional verification and kinematic algorithm verification of the robotic arm should be carried out. The installation of the robotic arm and the satellite body should be realized in the final assembly yard. After installation, the function of the robotic arm and the motion accuracy of the testing robotic arm should be verified. The above process must be completed on the ground, and the mechanical arm is designed according to the requirements of the weightless environment in space. In the ground test, if gravity compensation is not performed, the effect of gravity will generate la...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00B64G7/00
Inventor 丁亮高海波邓宗全刘振李楠杨怀广
Owner HARBIN INST OF TECH
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