A space manipulator simulation device with harmonic drive

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 for a space manipulator with harmonic transmission, which belongs 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, as a key technology for on-orbit support and services, have entered space 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 releasing and recovering satellites and on-orbit assembly and maintenance of the space station, and it can also be used as an auxiliary tool for astronauts to work outside the cabin. In recent years, with the rapid development of space technology fields such as space station orbit service and deep space exploration, the requirements for the working ability and ...

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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-dimensional rotation, one-dimensional rotation and spherical three-axis attitude control test, such as Chinese patent CN101865655;

[0006] (3) The ground experiment of the space manipulator seldom designs the active control device of the flexible arm, such as the US patent US005390288

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