A test system and test method for large-scale manipulator arm joint back drive torque

Abstract

A large-scale manipulator joint anti-drive torque testing system and test method of the present invention include a back-drive torque loading handle, a flexible deceleration loading mechanism, a torque sensor, and a data processing module; the manipulator joint is connected to the output end of the flexible deceleration loading mechanism through the torque sensor ;The reverse drive torque loading handle is installed at the input end of the flexible deceleration loading mechanism, which is used to drive the flexible deceleration loading mechanism to load torque on the joints of the manipulator; the torque sensor is used to read the loading torque on the joints of the manipulator, and transmit the information of the loading torque Transfer to the data processing module; the data processing module performs analog-to-digital conversion on the loading torque information sent by the torque sensor, draws a torque curve according to the loading torque information, and finds the peak value of the torque curve, which is the reverse drive torque. The invention has high test precision, does not introduce other additional force during the loading torque process, and automatically recognizes the reverse drive torque according to the characteristic that the mechanism's reverse drive torque is greater than its own 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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