Mechanical arm pose precision testing system

Abstract

The invention relates to a mechanical arm pose precision testing system which is reliable in data testing. The mechanical arm pose precision testing system comprises an air floatation platform, an air foot, a riding wheel, an air pump, a mechanical arm supporting frame, a balancing weight, a 6D laser tracker, an arm lever, a first joint, a second joint, a third joint, a fourth joint, a fifth joint and a sixth joint. The mechanical arm pose precision testing system is simple in structure and testing step, reliable in data testing, easy to implement and suitable for the test application field of space mechanical arms.

Description

technical field [0001] The invention belongs to the technical field of application of space manipulators, and can implement ground position and posture accuracy testing for the developed space manipulators. Background technique [0002] With the advancement of technology, human activities are constantly expanding into space. According to statistics, an average of 80 to 130 satellites are launched each year in the world, but 2 to 3 satellites fail to enter orbit correctly, and among the satellites correctly entered orbit, 5 to 10 satellites are in the early stages of life (the first 30 days after orbit) ) that fails, which leads to huge economic losses. In order to recover losses as much as possible, various countries are researching on-orbit service technology with space manipulators as the means of operation for the purpose of satellite maintenance and life extension. The current in-orbit services mainly include ORU (Orbital replacing unit) replacement, fuel supply, clean...

AI Technical Summary

Problems solved by technology

The suspension method is low in cost, easy to maintain, and mature in technology, but the mechanism is relatively complicated and the gravity compensation is incomplete; the cost of the water floating device and the microgravity tower are high, and the maintenance cost is high. The former requires the sealing of the system during the experiment, and the latter Although the effect of gravity compensation is good, the action time is too short, so it is not suitable for the experimental operation of the space manipulator; the air float method can only ensure the movement of the space manipulator in the air float plane, but the gravity compensation effect is better; the auxiliary parallelogram to determine the center of mass, the spring Mixed-method connectivity technology is immature

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