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All-dimension ground physical verification system and method for space manipulator load changing situation

A space manipulator, physical verification technology, applied in the field of space robot ground test verification, to achieve the effect of increasing applicability, wide adaptability, and strong load capacity

Active Publication Date: 2019-03-22
BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS +1
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  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, and provide a full-dimensional ground physical verification system and method for the variable load of the space manipulator. By designing the full-dimensional ground verification technology for the space manipulator with variable load, it can Simulate the change of the position and orientation of the base in the process of changing the load of the space robot in the three-dimensional space, verify the feasibility and effectiveness of the control algorithm under the changing load of the space robot, and solve the problem that the existing ground test system cannot simulate the change of the space manipulator in the three-dimensional space. The problem of pose change under load

Method used

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  • All-dimension ground physical verification system and method for space manipulator load changing situation
  • All-dimension ground physical verification system and method for space manipulator load changing situation

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Embodiment Construction

[0034] Such as figure 2 , the space robot ground physical verification system under variable load conditions includes a human-computer interaction unit, an actuator parallel mechanism 2, an actuator parallel mechanism controller, a six-dimensional force / torque sensor 7, a six-dimensional force / torque sensor signal processing module, and a six-dimensional force / torque sensor. Degree of freedom space manipulator 5, space manipulator controller, load clamping mechanism 9 and load.

[0035] Such as figure 1 , The actuator parallel mechanism is composed of upper platform 3, lower platform 1, six telescopic cylinders and Hooke hinge. One end of the telescopic cylinder is connected to the upper platform 3 through a Hooke hinge, and the other end is connected to the lower platform 1 through a Hooke hinge.

[0036] The signal processing module of the six-dimensional force / torque sensor 7 includes a force / torque signal filtering module and a communication module.

[0037] The space ...

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Abstract

The invention discloses an all-dimension ground physical verification system and method for a space manipulator load changing situation and belongs to the technical field of space robot ground test verification. By designing the all-dimensional ground verification technology of a load changing space manipulator, the pose changing situation of a pedestal in the space robot load changing process ina three-dimensional space can be simulated, the feasibility and the validity of a control algorithm under the space robot load changing situation are verified, and the problem that an existing groundtesting system cannot simulate the pose change under the space manipulator load changing situation in the three-dimensional space is solved.

Description

technical field [0001] The invention relates to a full-dimensional ground physical verification system and method for variable load conditions of a space manipulator, and belongs to the technical field of space robot ground test verification. Background technique [0002] After a satellite is abandoned due to malfunction, complete failure or the end of its mission, it will become space junk in space, which not only occupies precious orbital resources, but may also endanger the safety of other spacecraft. In order to recover the loss or purify the orbital environment as much as possible, on-orbit service tasks for the purpose of satellite maintenance, capture of invalid satellites and space junk removal by means of space manipulators are developing rapidly. In these on-orbit service tasks, the load of the space manipulator will change with the recovery of abandoned satellites. In order to ensure the successful execution of the space manipulator’s variable load on-orbit tasks,...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1607B25J9/1623B25J9/1638
Inventor 李晓琪刘嘉宇杜宝森刘书选
Owner BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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