Large-scale mechanical arm joint reverse driving torque testing system and method

Abstract

The invention discloses a large-scale mechanical arm joint reverse driving torque testing system and method. The system comprises a reverse driving torque loading handle, a flexible speed-reduction loading mechanism, a torque sensor and a data processing module. A mechanical arm joint is connected to the output end of the flexible speed-reduction loading mechanism through the torque sensor, the reverse driving torque loading handle is installed at the input end of the flexible speed-reduction loading mechanism and used for driving the flexible speed-reduction loading mechanism to load torque to the mechanical arm joint, the torque sensor is used for reading the loaded torque on the mechanical arm joint and transmitting loaded torque information to the data processing module, the data processing module carries out analog-digital conversion on the received loaded torque information sent by the torque sensor and draws a torque curve according to the loaded torque information, and a peak value of the torque curve is found and used as the reverse driving torque. According to the large-scale mechanical arm joint reverse driving torque testing system and method, testing precision is high, no other additional force is imported into the torque loading process, and the reverse driving toque is automatically recognized according to the characteristic that the mechanism reverse driving torque is larger than mechanism friction torque.

Description

technical field [0001] The invention relates to a test system and a test method for large-scale manipulator arm joint counter-drive torque, belonging to the technical field of engineering test. Background technique [0002] The large-scale space manipulator is an indispensable tool for in-depth manned spaceflight activities. It is a key device for on-orbit support and service. Status monitoring and inspection, support for extravehicular activities of astronauts and other functions. The large-scale space manipulator is composed of manipulator joints, end effectors, arm rods, etc. The joints of the manipulator mainly complete the three major tasks of power generation and transmission, position perception, and mechanical connection. They are the key to ensuring the load capacity and motion accuracy of the manipulator, and are the core components of the large-scale space manipulator. [0003] At present, my country has launched the development of space manipulators. In order t...

AI Technical Summary

Problems solved by technology

[0005] The technical problem of the present invention is: aiming at the deficiencies of the prior art, a large-scale manipulator arm joint anti-drive torque test system and test method are provided, which are used to solve the problem of accurate measurement of large-scale, complex transmission chain, and precision drive mechanism back-drive torque question

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