Space mechanical arm ground three-dimensional space motion testing device and method
A space manipulator, three-dimensional space technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of difficulty in meeting the experimental operation requirements of space manipulators, high cost and maintenance costs, and inability to achieve three-dimensional space multi-axis linkage testing, etc. problems, to achieve the effect of low cost and maintenance cost, simple installation and debugging, and easy operation
Active Publication Date: 2017-09-15
HARBIN INST OF TECH
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Problems solved by technology
[0004] The present invention proposes a ground three-dimensional space motion test device and method of a space manipulator to solve the problems of high cost and maintenance costs and the inability to realize multi-axis linkage in three-dimensional space in the existing space manipulator in the ground three-dimensional space motion test process Test and the problem that is difficult to satisfy the experimental operation requirement of space manipulator, for this reason the present invention adopts following technical scheme:
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Embodiment 1
[0029] combine Figure 1 to Figure 2 As shown, the frame 1 of the three-dimensional space motion test system can adopt a frame structure, and each part is connected by screws, which is easy to process and manufacture.
[0030] The two longitudinal guide rails 4 are polished cylinders, the linearity is less than 0.05 per thousand, and the parallelism of the two longitudinal guide rails 4 is better than 1 arc minute; the linear bearing is set on the cylinder of each longitudinal guide rail 4, so that the sliding The coefficient of friction is less than one thousandth.
[0031] The two ends of each transverse guide rail 5 are respectively installed on the linear bearing of a longitudinal guide rail 4 by screws, so that the transverse guide rail 5 can move along the longitudinal direction, and the transverse guide rail 5 adopts THK ball sliding guide rail.
[0032] A slide block 6 is housed on each transverse guide rail 5, which can move freely on the transverse guide rail 5, and...
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The invention provides a space mechanical arm ground three-dimensional space motion testing device and a method. The device comprises two longitudinal guide rails, at least two transverse guide rails, and slide blocks, fixed pulleys, lifting wires, counterweights and slide rings as many as the transverse guide rails; the two longitudinal guide rails are respectively arranged on a frame; two ends of each transverse guide rail are slidingly connected with one longitudinal guide rail; each transverse guide rail is provided with the slide blocks; the fixed pulleys are arranged on the slide blocks; the lifting wires are arranged on the fixed pulleys; and two ends of the lifting wires are respectively connected with the counterweights and the slide rings. The gravity compensation adopted by the device is passive compensation without being intervened by the driving force, so that such other driving devices as a motor are not needed, and the cost and the maintenance cost are lower; the three-dimensional space multi-axis linkage testing can be realized; the gravity compensation effect can reach above 90%; and the device is simple in installation and debugging, is easy to operate, and can meet experimental operation requirements of space mechanical arms.
Description
technical field [0001] The invention relates to a ground three-dimensional space motion testing device and method of a space manipulator, belonging to the technical field of space motion testing. Background technique [0002] With the advancement of technology, human activities are constantly expanding into space. Countries are studying space robotics as a means to maintain satellites, extend life, and remove space junk. The on-orbit service technology of space manipulators has made great progress. . However, affected by the gravity environment on the ground, the ground three-dimensional space motion test of the space manipulator has always been a key issue that plagues the development of the manipulator. This problem is mainly manifested in the following: since the space manipulator is designed for the space on-orbit microgravity environment, under the condition of no auxiliary support equipment, the driving torque of some of its joints is not enough to overcome the gravit...
Claims
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Login to View More IPC IPC(8): B25J9/02B25J9/00
CPCB25J9/0018B25J9/02
Inventor 刘宇赵永强徐文福
Owner HARBIN INST OF TECH