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A space manipulator simulation device with gaps
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A technology of a space manipulator and a simulation device, which is applied in the aerospace field to achieve the effect of ensuring reliability and accuracy
Active Publication Date: 2019-03-08
HARBIN INST OF TECH
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[0004] In order to solve the problem that there is no simulation device specially used for studying the influence of space manipulator tooth side clearance on mechanical dynamics, the present invention further proposes a space manipulator simulation device with gaps
Method used
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specific Embodiment approach 1
[0008] Specific implementation mode one: combine figure 1 This embodiment is described. A simulation device for a manipulator with gap space described in this embodiment includes a test bench 1, an air bearing table 2, an arm rod 4, a mass-adjustable load mechanism 5, a base 6, and three joints 3. One end of the rod 4 is connected to the base 6 through a joint 3, the base 6 is fixedly installed on the test bench 1, the other two joints 3 are installed on the arm 4, and the other end of the arm 4 is connected to the mass-adjustable load mechanism 5 connection, the mass-adjustable load mechanism 5 and the lower ends of the other two joints 3 are respectively provided with an air flotation mechanism 7, and the mass-adjustable load mechanism 5 and the other two joints 3 can pass through the air flotation mechanism 7 on the air flotation platform. 2 on the move.
[0009] In this embodiment, the joint 3 and the arm 4 are connected by a rectangular profile, and the profile connectio...
specific Embodiment approach 2
[0010] Specific implementation mode two: combination figure 2 Describe the present embodiment. Each joint 3 of a manipulator simulation device with gap space described in this embodiment includes a driving shaft system 3-1, a driven shaft system 3-2 and a joint housing 3-3. The driving shaft system 3 -1 and the driven shaft system 3-2 are installed side by side on the joint housing 3-3. Joint housing 3-3 is made of carbon fiber plate, and is connected and fixed with internal transmission and measuring device by connecting screws. Other components and connections are the same as those in the first embodiment.
specific Embodiment approach 3
[0011] Specific implementation mode three: combination Figure 3 to Figure 6 To illustrate this embodiment, the driving shaft system 3-1 of a manipulator simulation device with gap space described in this embodiment includes a motor 3-1-1, a reducer 3-1-2, a driving gear 3-1-3 and The shaft end retaining ring 3-1-4, the driving gear 3-1-3 is installed on the output shaft of the reducer 3-1-2 through the shaft end retaining ring 3-1-4, the input of the reducer 3-1-2 The shaft is connected to the rotating shaft of the motor 3-1-1; the driven shaft system 3-2 includes a driven gear 3-2-1, a connecting shaft 3-2-2, an upper connecting flange 3-2-3, and a torque Speed sensor 3-2-4, sensor fixed shell 3-2-5, lower connecting flange 3-2-6, output shaft 3-2-7 and bearing housing 3-2-8, driven gear 3-2- 1 Set on the connecting shaft 3-2-2, the connecting shaft 3-2-2 is connected with the upper end of the torque speed sensor 3-2-4 through the upper connecting flange 3-2-3, the torque...
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Abstract
The invention provides a clearance space-contained manipulator simulation device and relates to a simulation device, particularly a clearance space-contained manipulator simulation device. The device solves the problem in the prior art that no special simulation device for studying the influence of a spatial manipulator gear backlash on the mechanical dynamics is available. The device comprises a test bench, an air-floating platform, an arm rod, a mass-adjustable load mechanism, a base, and three joints. One end of the arm rod is connected with the base through one joint. The base is fixedly mounted on the test stand. The other two joints are mounted on the arm rod. The other end of the arm rod is connected with the mass-adjustable load mechanism. The mass-adjustable load mechanism and the lower ends of the other two joints are respectively provided with one air-floating mechanism. The mass-adjustable load mechanism and the other two joints are capable of floating on the air-floating platform through air-floating mechanisms. The device of the invention belongs to the field of aerospace.
Description
technical field [0001] The invention relates to a simulation device, in particular to a space manipulator simulation device with gaps, which belongs to the aerospace field. Background technique [0002] The space manipulator is an important tool for spacecraft on-orbit service, has broad application prospects, and is of great significance to future space exploration. The space manipulator mainly uses gear transmission, which inevitably introduces ulnar clearance, which is one of the important reasons for joint flexibility. Joint flexibility will have an important impact on the motion state of the end of the space manipulator. Therefore, the structure design, dynamic analysis and control system design of the space manipulator all rely on an accurate flexible space manipulator model. The establishment of the model mainly uses It is a combination of theoretical model and experimental correction. Establishing a space manipulator simulation device with backlash has become one o...
Claims
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Application Information
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