Harmonic drive-containing space manipulator simulation device

A technology for space manipulators and simulation devices, which is applied in the field of civil aerospace engineering, can solve the problems of less active control devices for arm rods, no research on the design and research of manipulator joints, etc., and achieve the effect of simple suspension mechanisms

Active Publication Date: 2014-08-13
TSINGHUA UNIV
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Problems solved by technology

[0004] (1) Focusing only on the gravity compensation of the manipulator, without specific research on the design of the joints of the manipulator using harmonic deceleration, such as Chinese patent CN103144104;
[0005] (2) The air flotation method can only be used for two-dim...

Method used

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  • Harmonic drive-containing space manipulator simulation device
  • Harmonic drive-containing space manipulator simulation device
  • Harmonic drive-containing space manipulator simulation device

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Embodiment Construction

[0039] The present invention provides a simulation device for a space manipulator with harmonic drive. The structure, principle and implementation of the present invention will be further described below with reference to the accompanying drawings.

[0040] FIG. 1(a) and FIG. 1(b) are schematic diagrams of the three-dimensional structure of the simulation device of the space manipulator with harmonic drive in the present invention. The device consists of four main parts, the rotating motion mechanism of the manipulator; the rigidizing adjustment mechanism of the arm rod; the microgravity simulation and testing mechanism, and the motion accuracy testing mechanism. The arm rod stiffening adjustment mechanism is set in the arm rod of the mechanical arm rotary motion mechanism, the microgravity simulation and testing mechanism is set above the mechanical arm rotary motion mechanism, and is connected to the arm rod, and the motion accuracy test mechanism is set on the second side of...

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Abstract

The invention provides a harmonic drive-containing space manipulator simulation device, and belongs to the technical field of aerospace engineering. The device adopts harmonic speed reducer drive and a space manipulator microgravity test mechanism, and comprises the following five parts, namely a base, a joint driving mechanism, an arm lever stiffening regulating mechanism, a suspension mechanism, and a movement precision test mechanism, wherein the base has a 90-degree installation adjustable function; the joint driving mechanism adopts a form of servo motor driving and harmonic speed reducer drive; the arm lever stiffening regulating mechanism simulates different flexibilities of an arm lever under a stress stiffening effect by adopting a tensile force pre-tightening mechanism with a replaceable arm lever sleeve; the suspension mechanism comprises an aluminum profile bracket and a two-dimensional suspension mechanism without additional constraint; the movement precision test mechanism comprises a PSD (position sensitive detector) and a laser generator, and can measure the flexible deformation amount at the tail end of a manipulator. The device can realize the dynamic performance test of the harmonic drive space manipulator in a microgravity environment, and has a wide application prospect in the field of aerospace engineering.

Description

technical field [0001] The invention provides a simulation device of a space manipulator with harmonic drive, belonging to the technical field of civil aerospace engineering. Background technique [0002] With the rapid development of space technology, especially the birth and successful application of space stations, space shuttles, space robots, etc., space manipulators have entered space as a key technology for on-orbit support and services, and are more and more popular among people. focus on. As an important maintenance tool on the spacecraft, the space manipulator can complete various tasks such as the release and recovery of satellites, as well as the on-orbit assembly and maintenance of the space station, and as an auxiliary tool for astronauts' out-of-vehicle work. In recent years, with the rapid development of space technology fields such as orbital services and deep space exploration of space stations, the requirements for the working ability and performance of s...

Claims

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Application Information

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IPC IPC(8): B64G7/00
Inventor 阎绍泽赵杰亮吴嘉宁谷勇霞
Owner TSINGHUA UNIV
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