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Air bearing type manipulator gravity compensation device based on annular air bearing platform

An air-floating platform and air-bearing technology, which is applied to the simulation device of space navigation conditions, manipulators, transportation and packaging, etc., can solve the problems of no multi-joint space manipulator gravity compensation system, etc., and achieve easy understanding and implementation, structure Simple, highly simulated effects

Active Publication Date: 2016-01-20
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that there is no gravity compensation system for multi-joint space manipulators with complex mechanisms at present, the present invention further proposes an air bearing type manipulator gravity compensation device based on an annular air bearing platform

Method used

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  • Air bearing type manipulator gravity compensation device based on annular air bearing platform

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specific Embodiment approach 1

[0007] Specific implementation mode one: combine figure 1 Describe this embodiment, the air bearing type manipulator gravity compensation device based on the annular air bearing platform in this embodiment includes a fixed suspension mechanism 1, a main rotary arm air bearing platform tracking suspension mechanism 2 and a secondary rotary arm tracking suspension mechanism 3 , the fixed suspension mechanism 1 and the main rotary arm air-floating platform tracking suspension mechanism 2 are installed on the steel frame, and one end of the auxiliary rotary arm tracking suspension mechanism 3 is connected with the main rotary arm air-floating platform tracking suspension mechanism 2.

specific Embodiment approach 2

[0008] Specific implementation mode two: combination figure 1 Describe this embodiment, the fixed suspension mechanism 1 of the air bearing type manipulator gravity compensation device based on the annular air bearing platform in this embodiment includes a first rod 1-1, a first suspension plate 1-2 and a first bearing , the upper end of the first suspension plate 1-2 is connected with the middle part of the first bar 1-1, and the lower end of the first suspension plate 1-2 is connected with the first mechanical arm bar 4-1 of the mechanical arm 4 through the first bearing. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0009] Specific implementation mode three: combination figure 1 Describe this embodiment, the main rotary arm air bearing platform tracking suspension mechanism 2 of the air bearing type manipulator gravity compensation device based on the annular air bearing platform in this embodiment includes a second rod 2-1, a first rotary joint 2 -2. Main slewing arm 2-3, air bearing platform 2-4, third rod 2-5, second rotating joint 2-6, second suspension plate 2-7 and second bearing 2-8, air bearing platform One end of 2-4 is connected with one end of the first rod 1-1, the other end of the air-floating platform 2-4 is connected with the upper end of the third rod 2-5, and the upper end of the second rod 2-1 is connected with the air-floating platform 2- 4 connection, the lower end of the second rod 2-1 is connected with one end of the main rotary arm 2-3 through the first rotary joint 2-2, and the other end of the main rotary arm 2-3 is connected with the third rotary arm 2-6 through ...

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Abstract

An air bearing type mechanical arm gravity compensation device based on an annular air floating platform relates to a mechanical arm gravity compensation device, in particular to the air bearing type mechanical arm gravity compensation device based on the annular air floating platform. The air bearing type mechanical arm gravity compensation device based on the annular air floating platform solves the problem that a gravity compensation system aiming at a multi-joint space mechanical arm with a complicated mechanism does not exist in the prior art. The air bearing type mechanical arm gravity compensation device comprises a fixed hanging mechanism, a main rotating arm air floating platform tracking hanging mechanism and an auxiliary rotating arm tracking hanging mechanism, wherein the fixed hanging mechanism and the main rotating arm air floating platform tracking hanging mechanism are mounted on a steel frame; one end of the auxiliary rotating arm tracking hanging mechanism is connected with the main rotating arm air floating platform tracking hanging mechanism. The air bearing type mechanical arm gravity compensation device based on the annular air floating platform is used for a space mechanical arm ground-based simulation experiment.

Description

technical field [0001] The invention relates to a gravity compensation device for a mechanical arm, in particular to an air bearing type mechanical arm gravity compensation device based on an annular air-floating platform. Background technique [0002] During the ground test of the space manipulator, if gravity compensation is not performed, the effect of gravity will generate large forces and moments on each joint, which will cause the drive motor to fail to operate normally, and even damage the manipulator. Therefore, it is necessary to develop the gravity compensation mechanism system of the manipulator. The purpose of gravity compensation is to simulate the zero-gravity environment of space on the ground, so as to realize the control of the space manipulator and carry out the simulation test of the manipulator movement in the space environment. At present, there are many kinds of gravity compensation systems developed abroad, which can be divided into free fall type, sus...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00B64G7/00
Inventor 高海波邓宗全丁亮刘振李楠吕凤天
Owner HARBIN INST OF TECH
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