A space intelligent flexible manipulator test device

A flexible robotic arm and test device technology, which is applied in the testing of mechanical components, measuring devices, and testing of machine/structural components, can solve problems such as difficult implementation and large investment, and achieve the effect of eliminating influence and realizing torsional vibration

Active Publication Date: 2018-03-02
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These test methods require the establishment of a large number of auxiliary facilities, which are expensive and difficult to implement, and cannot be completed in general laboratories.

Method used

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  • A space intelligent flexible manipulator test device
  • A space intelligent flexible manipulator test device

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Embodiment Construction

[0022] The specific embodiments of the present invention will be described in further detail below in conjunction with the drawings and embodiments. The following examples are used to illustrate the present invention, but not to limit the scope of the present invention.

[0023] See Figure 1 to Figure 2 , A space intelligent flexible mechanical arm test device according to a preferred embodiment of the present invention includes a flexible arm 1, a rigid arm 2, a flexible joint 3, a vibration controller 5, a balance device, a foundation 9 and a support 10. Among them, the rigid arm and the flexible arm respectively form a mechanical arm assembly with a flexible joint. The flexible joint 3 includes a fixed part 11, a rotating part 12, a rotating shaft 13, a bearing 14 and a flexible spring sheet 15. The balance device includes a balance pillar 6, a balance Cable 7 and balance bearing 8.

[0024] The flexible arm 1 is connected to the flexible joint 3 through the vibration control...

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Abstract

The invention relates to a spatial intelligence flexible manipulator tester, comprising a support, a base and at least one manipulator assembly. The base is rotatablely arranged on the support; the manipulator assembly comprises a flexible joint and an armed lever, wherein the flexible joint comprises a fixed part, a rotating part, a motor and a balance pillar, and the front end of the armed lever is rotatably connected to the fixed part through the rotating part, wherein the flexible joint of one manipulator assembly is in fixed connection with the base through a fixed part, and the flexible joints of other manipulator assemblies are in fixed connection with the rear end of the armed lever of a prior manipulator assembly through fixed parts. The output shaft of the motor is in connection with the rotating part through a flexible leaf spring; the bottom end of the balance pillar is fixedly arranged on the fixed part; a balance inhaul cable is arranged between the balance pillar and the armed lever. The spatial intelligence flexible manipulator tester is provided with the support and the balance inhaul cable, thereby stimulating a micro gravity condition so as to perform space structure dynamics performance experimental study on a flexible manipulator, and has the characteristics of simple structure and low cost.

Description

Technical field [0001] The invention relates to a mechanical arm test device, in particular to a space intelligent flexible mechanical arm test device. Background technique [0002] With the continuous development of science and technology, many high-end flexible manipulators are increasingly used in aerospace, aviation, machinery and other fields. During the birth and development of space stations, space shuttles, and space robots, more and more space manipulators have been used in the docking and maintenance of space agencies, playing an increasingly important role in the development of space. Large-scale, lightweight, complex and high-precision are becoming its direction. Some developed countries, such as Canada, Germany, Russia, etc., have mastered the manufacturing and application technology of flexible space manipulators, in the space shuttle teleoperation manipulator system (ShuttleRemote manipulator system), space station teleoperation manipulator system (Space StationRe...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01M13/00B64G7/00
CPCB64G7/00G01M13/00
Inventor 邵敏强滕汉东黄宇明
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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