A space intelligent flexible manipulator test device

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...

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.

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