A Verification Method of Space Manipulator Collision Algorithm Based on Microgravity Simulation System

A microgravity simulation and space manipulator technology, applied in the field of space manipulator collision algorithm verification, to achieve the effect of preventing dragging force and accurate acquisition results

Active Publication Date: 2017-10-03
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0006] In order to solve the verification problem of the collision algorithm when the space manipulator is in contact with the assembled object, the present invention provides a space manipulator collision algorithm verification method based on a microgravity simulation system

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  • A Verification Method of Space Manipulator Collision Algorithm Based on Microgravity Simulation System
  • A Verification Method of Space Manipulator Collision Algorithm Based on Microgravity Simulation System
  • A Verification Method of Space Manipulator Collision Algorithm Based on Microgravity Simulation System

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Embodiment Construction

[0033] The present invention proposes a method for verifying the collision algorithm of a space manipulator based on a microgravity simulation system. The specific implementation method of the present invention will be described in detail below with reference to the accompanying drawings.

[0034] The microgravity simulation system that the present invention relies on is as figure 1 shown. The manipulator system (2) is fixed on the base (5), and is in contact with the platform through the air foot (8). It can simulate the free-floating state of space to a certain extent; the docking rod (6) is made of aerospace aluminum, and the end of the docking rod is designed as a ball head to achieve a smooth collision; the six-dimensional force sensor and the acceleration sensor (7) can Real-time collection of collision force / moment and acceleration data during the docking collision process, and transmit the data to the industrial computer for data analysis.

[0035] The target star s...

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Abstract

The invention discloses a method for verifying the collision algorithm of a space manipulator based on a microgravity simulation system, wherein the microgravity simulation system relied on includes hardware parts: an air flotation platform, a manipulator system, a target star system, and an industrial computer; and a software part : Robotic arm control software and data acquisition and analysis software. The bottom of the manipulator system and the target star system are respectively equipped with air feet, which can simulate the free floating state in space on the air floating platform after ventilation; the manipulator control software controls the manipulator to collide with the target star system, and the sensor collects the data before and after the collision. Various physical data are compared with the results obtained by the theoretical collision algorithm to verify the validity and correctness of the space collision algorithm.

Description

technical field [0001] The invention relates to a method for verifying a collision algorithm of a space manipulator based on a microgravity simulation system, and belongs to the technical field of space on-orbit assembly. Background technique [0002] According to my country's manned spaceflight development plan, multiple capsules will be launched successively around 2020, and a space station will be constructed through on-orbit assembly. The on-orbit assembly technology of space manipulator is the key technology of cabin assembly, which is of great significance to the construction of space station. During the assembly process, the manipulator and the object to be assembled will inevitably collide. Due to the lack of systematic research and verification in this area, the application of space manipulators is greatly limited. Therefore, building a microgravity simulation platform on the ground and based on this has extremely important guiding significance for the verification...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01M99/00
Inventor 贾庆轩张龙陈钢梁骥孙汉旭
Owner BEIJING UNIV OF POSTS & TELECOMM
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