Ground mobile robot performance testing device and testing method using the same

Abstract

This invention discloses a performance testing device for a ground mobile robot and a testing method using the same. The device includes: a frame with multiple drive rollers rotatably connected side-by-side on it, and a drive belt connected to each drive roller; a drive motor fixed to the outer side of one end of the frame, with its output shaft connected to one of the drive rollers, the drive motor being used to compensate for the frictional resistance of the drive rollers on the drive belt; a torque and speed sensor fixed to the frame and located between the output shaft of the drive motor and the corresponding drive roller; and a robot mounting frame fixed to both side walls of the frame and above the drive belt, on which the robot under test is mounted. The robot under test is placed on the drive belt. The method involves using the drive motor to compensate for torque, making the robot's travel state on the drive belt equivalent to its travel state on a corresponding road surface. This invention is easy to use and has a large load torque adjustment range.

Description

Technical Field

[0001] This invention relates to the field of robot performance testing technology, specifically to a ground mobile robot performance testing device and a testing method using the same. Background Technology

[0002] In recent years, with the continuous advancement of robotics technology, the research and testing of ground mobile robots capable of replacing humans in reconnaissance, inspection, and transportation has become a hot topic in the robotics field. However, conducting motion performance tests on ground mobile robots in outdoor environments is extremely difficult, requiring repeated trials that are not only time-consuming but also consume enormous human, material, and financial resources. Specialized testing facilities are also needed, and testing conditions are limited. Therefore, developing performance testing equipment indoors and adopting reasonable and effective testing methods is of significant application value for the promotion and application of ground mobile robots.

[0003] Therefore, how to provide a performance testing device for ground mobile robots and the testing method using it are problems that urgently need to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the present invention provides a ground mobile robot performance testing device and a testing method using the same, which has a wide load torque adjustment range, can meet the requirements of various test road conditions without the need for a large test site, has low investment cost, and is simple and efficient in testing.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a ground mobile robot performance testing device, comprising:

[0006] A frame, on which multiple drive rollers are rotatably connected in parallel, and drive belts are connected to the drive rollers;

[0007] A drive motor is fixed to the outside of one end of the frame. The output shaft of the drive motor is connected to one of the transmission rollers. The drive motor is used to compensate for the frictional resistance of the transmission rollers on the transmission belt.

[0008] A torque and speed sensor is fixed on the frame and located between the output shaft of the drive motor and the corresponding transmission roller;

[0009] A robot mounting frame is fixed to the two side walls of the frame and located above the transmission belt. The robot under test is mounted on the robot mounting frame and placed on the transmission belt.

[0010] The resulting technical effect is as follows: This invention simulates the walking conditions of the robot under test by using the cooperation of a transmission belt and transmission rollers. Since the operation of the transmission belt itself is affected by factors such as transmission rollers and bearings, there will be a certain frictional resistance. The drive motor can complete the torque compensation. The friction force of the robot under test is different on different road surfaces. Therefore, the driving motor compensates for the torque of the transmission belt to simulate the walking conditions of the robot under test on different test surfaces. The arrangement of the drive motor can compensate for the frictional resistance required for the original operation of the transmission belt, thereby expanding the load torque adjustment range of the overall test bench. Traditional load adjustment cannot solve the influence of the frictional force of the transmission belt itself. That is to say, when the frictional resistance generated by the test surface is less than the frictional force of the transmission belt itself, torque compensation cannot be achieved, which limits the adjustment range of the load torque.

[0011] Preferably, the frame is a telescopic frame, which includes frame heads at both ends and a frame body in the middle. The frame heads at both ends are slidably connected to the two ends of the frame body. Adjusting bolts are connected to the frame heads and are threaded to the ends of the frame body. Rotation of the adjusting bolts causes adjustment of the distance between the frame body and the frame heads. The transmission roller includes an active transmission roller, a driven transmission roller, and a support transmission roller. An active transmission roller is rotatably connected to one end of the frame head, and a driven transmission roller is rotatably connected to the other end of the frame head. The drive motor and torque-speed sensor are fixed to one end of the frame head and are connected to the active transmission roller. The robot mounting frame is fixed to both sides of the frame body, and the support transmission rollers are rotatably connected to the frame body side by side.

[0012] The resulting technical effect is that the adjusting bolts at both ends of the frame are used to adjust the contact between the transmission belt and the transmission roller, ensuring that the transmission belt and the transmission roller do not slip, thus ensuring the accuracy of the test results.

[0013] Preferably, the robot mounting frame includes vertical rails and horizontal beams. The vertical rails are grouped in pairs and fixed to the two outer side walls of the frame. The inner sides of the vertical rails that are close to each other are provided with sliding grooves. The horizontal beams are located between the two groups of vertical rails and the ends of the horizontal beams are adapted to slide in the sliding grooves. The horizontal beams are fixedly connected to the robot under test.

[0014] The resulting technical effect is that the robot mounting frame is used to limit the relative position of the robot under test on the frame. Due to the lifting effect of the crossbeam on the vertical rail, the robot under test can adaptively float up and down to match the operation of the transmission belt and the support transmission roller, thus realistically simulating the road walking state of the robot under test.

[0015] This invention also discloses a method for testing the performance of a ground mobile robot, which uses the aforementioned testing equipment and is characterized by comprising the following steps:

[0016] Step 1: Testing and compensating for the frictional torque of the transmission belt. First, the LuGre model is used to model the frictional torque experienced by the transmission belt. This model comprehensively considers the Stribeck effect and hysteresis, conforming to the characteristics of friction. The model's relationship between the frictional torque and the transmission belt speed is as follows:

[0017] τ f =a+b·e -c·v +d·v

[0018] In the formula: τ f Let v be the transmission belt friction torque, v be the transmission belt speed, and a, b, c, and d be the parameters to be estimated. The torque T measured by the torque-speed sensor includes the equipment's inertial torque, centrifugal force and Coriolis torque, gravitational torque, and friction torque. Since the measurement is performed at a constant speed, the inertial torque is 0, and the centrifugal force and Coriolis torque can be ignored. During the equipment's uniform back-and-forth rotation, if the speeds are opposite in direction and equal in magnitude, the gravitational torque is equal, and the friction torque is equal in magnitude and opposite in direction. Based on this, the difference between the two torque values ​​measured when the speeds are the same and opposite in direction is twice the friction torque value at that speed.

[0019] Therefore, first, operate at a speed of v1 under no-load conditions and record the torque from the torque-speed sensor as T1. Then, operate at a speed of -v1 and record the torque from the torque sensor as T2. Then we have...

[0020] τ f1 =(T2-T1) / 2

[0021] By measuring the relationship between speed and friction torque four times with four different values ​​of v1, a system of equations containing four parameters a, b, c, and d can be formed. The four parameters a, b, c, and d can then be solved to obtain the relationship between the friction torque of the transmission belt and the speed, which can be used for subsequent compensation of friction resistance.

[0022] Step 2: Obtain the operating parameters of the robot under test. Place the robot under test on different test surfaces, fix the test speed of the robot under test, and record the current required by the robot system at the corresponding test speed.

[0023] Step 3: Place the robot under test on the transmission belt and fix it to the robot mounting frame. At this time, the driving mechanism of the robot under test will operate and cause the transmission belt to move. The transmission belt drives the output shaft of the drive motor to rotate through the transmission roller.

[0024] Step 4: Based on the relationship between frictional resistance and speed in Step 1, obtain the frictional resistance at the test speed in Step 2. On this basis, adjust the compensation torque of the drive motor so that the product of the voltage and current of the robot under test is equal to its state on the corresponding test surface. At this time, the motion state of the robot under test on the transmission belt is equivalent to the driving state of the robot under test on the test surface.

[0025] Step 5: During the operation of Step 4, at least monitor the motion time and internal temperature rise data of the robot under test on the transmission belt, and provide data support for subsequent robot development.

[0026] The beneficial effects of this invention are as follows: First, the frictional resistance of the transmission belt at different speeds is obtained, because the frictional resistance of the transmission belt is different at different speeds. Then, the operating parameters of the robot under test are acquired. This acquired data is a reference standard. The current and voltage data of the robot under test under different road surfaces and different speeds are obtained. Then, the road surface simulation of the transmission belt is performed. After the robot under test is installed in place, the drive motor is started so that the product of the voltage and current of the robot under test on the transmission belt is equal to its data on the corresponding road surface. This can be used to simulate the movement of the robot under test on the corresponding road surface without the need for personnel to follow and record, which provides convenience for subsequent testing.

[0027] Preferably, in step two, the test surface includes at least grass, gravel, cement road, and slope, and the friction force of the robot to be tested is different on different test surfaces.

[0028] The resulting technical effect is that, since different test surfaces provide different frictional resistance to the robot under test, they need to be discussed and simulated separately.

[0029] Preferably, in step two, when the frictional force of the robot under test on the test road surface at a certain speed is less than the frictional resistance of the transmission belt at that speed, the drive motor compensates for the frictional resistance, so that the driving state of the robot under test on the transmission belt is equivalent to the driving state of the robot under test on the corresponding test road surface.

[0030] The resulting technical effect is that when the frictional resistance of the road surface under test is less than that of the transmission belt, the drive motor needs to perform reverse compensation for the frictional resistance. Otherwise, if the frictional resistance of the transmission belt itself is greater than that of the road surface under test, the performance test under this road surface condition cannot be completed.

[0031] Preferably, in step four, the direction of the output torque of the drive motor is opposite to the direction of the frictional resistance experienced by the transmission belt.

[0032] The resulting technical effect is that the drive motor can compensate for the frictional torque of the transmission belt, so that the operation of the transmission belt can equivalently meet the requirements of the road surface under test.

[0033] Preferably, when testing the maximum output torque of the robot under test: the drive motor is replaced with a magnetic powder brake. The magnetic powder brake is connected to the transmission roller through a torque and speed sensor. The robot under test is placed on the transmission belt and fixed to the robot mounting frame. The driving mechanism of the robot under test moves, and the driving mechanism contacts the transmission belt, thereby driving the transmission belt to move. At this time, the magnetic powder brake is activated, and the magnetic powder braking torque is gradually increased until the driving mechanism of the robot under test is stalled. The maximum output torque of the robot under test is the sum of the frictional resistance of the transmission belt under no-load conditions and the torque value of the torque and speed sensor.

[0034] The resulting technical effect is that the maximum output torque of the robot under test can be tested by adding the frictional resistance of the transmission belt to the data from the torque and speed sensors. Attached Figure Description

[0035] Figure 1 This is a structural diagram of a ground mobile robot performance testing device according to the present invention.

[0036] 1. Frame, 11. Head, 12. Body, 13. Drive roller, 14. Adjusting bolt, 15. Support roller, 2. Drive belt, 3. Drive motor, 4. Torque and speed sensor, 5. Robot mounting frame, 51. Vertical rail, 52. Crossbeam, 6. Robot under test. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] See the appendix of this invention. Figure 1 According to an embodiment of the present invention, a performance testing device for a ground mobile robot includes:

[0039] A frame 1, on which multiple drive rollers 13 are rotatably connected in parallel, and a drive belt 2 is connected to the drive rollers 13;

[0040] Drive motor 3 is fixed on the outer side of one end of frame 1. The output shaft of drive motor 3 is connected to one of the transmission rollers. Drive motor 3 is used to compensate for the frictional resistance of transmission roller 13 on the transmission belt. Because the transmission belt has resistance when running unloaded, the frictional resistance changes with the speed of the transmission belt.

[0041] Torque speed sensor 4 is fixed on frame 1 and located between the output shaft of drive motor 3 and the corresponding transmission roller 13. A coupling connects torque speed sensor 4 and transmission roller 13.

[0042] The robot mounting frame 5 is fixed to both side walls of the frame 1 and located above the transmission belt 2. The robot under test 6 is mounted on the robot mounting frame 5 and placed on the transmission belt 2. The robot under test maintains a constant relative position using the robot mounting frame, eliminating the need for personnel to move with the robot.

[0043] Specifically, the frame 1 is a telescopic frame, which facilitates the adjustment of the tension relationship between the transmission belt and the transmission roller, and avoids transmission belt slippage. The frame 1 includes frame heads 11 at both ends and frame body 12 in the middle. The frame heads 11 at both ends are slidably connected to the two ends of the frame body 12. Adjusting bolts 14 are connected to the frame heads 11. The adjusting bolts 14 are threadedly connected to the ends of the frame body 12. The rotation of the adjusting bolts 14 causes the distance between the frame body 12 and the frame heads 11 to be adjusted. The transmission roller 13 includes an active transmission roller, a driven transmission roller and a support transmission roller. The active transmission roller is rotatably connected to the frame head 11 at one end, and the driven transmission roller is rotatably connected to the frame head at the other end. The drive motor 3 and the torque and speed sensor 4 are fixed to the frame head 11 at one end and are connected to the active transmission roller. The robot mounting frame 5 is fixed on both sides of the frame body 12, and the support transmission rollers are rotatably connected to the frame body 12 side by side.

[0044] More specifically, the robot mounting frame is used to mount different robots under test and can adapt to different specifications and sizes of the robots under test. The robot mounting frame 5 includes vertical rails 51 and horizontal beams 52. The vertical rails 51 are grouped in pairs and fixed to the two outer side walls of the frame 12 respectively. The inner side of the vertical rails 51 that are close to each other is provided with a sliding groove. The horizontal beam 52 is located between the two groups of vertical rails and the end of the horizontal beam is adapted to slide in the sliding groove. The horizontal beam 52 is fixedly connected to the robot under test 6. The robot under test can float up and down when it travels on the transmission belt.

[0045] This invention also discloses a method for testing the performance of a ground mobile robot, using the aforementioned ground mobile robot performance testing equipment, which includes the following steps:

[0046] Step 1: Testing and compensating for the frictional torque of the transmission belt. First, the LuGre model is used to model the frictional torque experienced by the transmission belt. This model comprehensively considers the Stribeck effect and hysteresis, conforming to the characteristics of friction. The model's relationship between the frictional torque and the transmission belt speed is as follows:

[0047] τ f =a+b·e -c·v +d·v

[0048] In the formula: τf Let v be the transmission belt friction torque, a be the transmission belt speed, and a, b, c, and d be the parameters to be estimated. The torque T measured by the torque-speed sensor includes the equipment's inertial torque, centrifugal force and Coriolis torque, gravitational torque, and frictional torque. Since the measurement is performed at a constant speed, the inertial torque is 0, and the centrifugal force and Coriolis torque can be ignored. During the equipment's uniform back-and-forth rotation, if the speeds are opposite in direction and equal in magnitude, the gravitational torque is equal, and the frictional torque is equal in magnitude and opposite in direction. Based on this, the difference between the two torque values ​​measured at the same speed but opposite in direction is twice the frictional torque value at that speed. Therefore, first, under no-load conditions, the equipment is operated at a speed of v1, and the torque measured by the torque-speed sensor is recorded as T1. Then, the equipment is operated at a speed of -v1, and the torque measured by the torque sensor is recorded as T2. Then...

[0049] τ f1 =(T2-T1) / 2

[0050] By measuring the relationship between speed and frictional torque four times with four different values ​​of v1, a system of equations containing four parameters a, b, c, and d can be formed. Solving for these four parameters yields the relationship between the transmission belt's frictional torque and speed, which is then used for subsequent compensation of frictional resistance. Step one aims to obtain the relationship between the transmission belt speed and the applied frictional resistance under no-load conditions.

[0051] Step 2: Obtaining the operating parameters of the robot under test. Place the robot under test on different test surfaces, fix the test speed of the robot under test, and record the current required by the robot system at the corresponding test speed; this step is to obtain reference data for different test surfaces.

[0052] Step 3: Place the robot under test on the transmission belt and fix it to the robot mounting frame. At this time, the driving mechanism of the robot under test will operate and cause the transmission belt to move. The transmission belt drives the output shaft of the drive motor to rotate through the transmission roller.

[0053] Step 4: Based on the relationship between frictional resistance and speed in Step 1, obtain the frictional resistance at the test speed in Step 2. On this basis, adjust the compensation torque of the drive motor so that the product of the voltage and current of the robot under test is equal to its state on the corresponding test surface. At this time, the motion state of the robot under test on the transmission belt is equivalent to the driving state of the robot under test on the test surface.

[0054] Step 5: During the operation of Step 4, at least monitor the motion time and internal temperature rise data of the robot under test on the transmission belt, and provide data support for subsequent robot development.

[0055] Specifically, in step two, the test surface includes at least grass, gravel, cement road, and slope, and the friction force of the test robot 6 is different on different test surfaces.

[0056] When the friction of the test road surface is greater than the friction resistance of the transmission belt itself, the drive motor is also required to perform torque compensation. For example, when the transmission belt is running at a certain speed under no-load conditions, the friction resistance of the transmission belt at this speed is 10 Nm, while the friction force on the slope at the same test speed is 20 Nm. In order to achieve the equivalent of the transmission belt and the slope road surface, the drive motor needs to be used to compensate for the torque of 10 Nm in the positive direction.

[0057] More specifically, in step two, when the frictional force of the robot under test on the test surface at a certain speed is less than the frictional resistance of the transmission belt at that speed, the drive motor compensates for the frictional resistance, so that the driving state of the robot under test on the transmission belt is the same as the driving state of the robot under test on the corresponding test surface.

[0058] For example, when a drive belt is running at a certain speed under no-load conditions, the frictional resistance it experiences is 10 Nm, while the frictional force it experiences on grass at the same speed is 8 Nm. To achieve the equivalent effect between the drive belt and the grass surface, a drive motor is needed to compensate with a torque of 2 Nm in the opposite direction.

[0059] In other specific embodiments, in step four, the output torque of the drive motor 3 is in the opposite direction to the frictional resistance of the transmission belt 2, which is used for torque compensation.

[0060] In addition, this invention can also test the maximum output torque of the robot under test: the drive motor is replaced with a magnetic powder brake, which is connected to the transmission roller through a torque and speed sensor. The robot under test is placed on the transmission belt and fixed to the robot mounting frame. The driving mechanism of the robot under test moves, and the driving mechanism contacts the transmission belt, thereby driving the transmission belt to move. At this time, the magnetic powder brake is activated, and the magnetic powder braking torque is gradually increased until the driving mechanism of the robot under test is stalled. The maximum output torque of the robot under test is the sum of the frictional resistance of the transmission belt under no-load conditions and the torque value of the torque and speed sensor.

[0061] This invention does not require a large-scale testing site or personnel to follow along, making testing convenient. The torque of the drive motor can be adjusted according to different test surfaces, so that the robot under test travels on the transmission belt in the same way it travels on the corresponding test surface.

[0062] The apparatus and methods disclosed in the embodiments are described simply because they correspond to the methods disclosed in the embodiments. For relevant details, please refer to the method section.

[0063] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for testing the performance of a ground mobile robot, comprising a ground mobile robot performance testing device, wherein, Ground mobile robot performance testing equipment includes: A frame (1) is provided, on which multiple drive rollers (13) are rotatably connected in parallel, and a drive belt (2) is connected to each drive roller (13). Drive motor (3), the drive motor (3) is fixed on the outside of one end of the frame (1), the output shaft of the drive motor (3) is connected to one of the transmission rollers, and the drive motor (3) is used to compensate for the frictional resistance of the transmission roller (13) on the transmission belt. Torque speed sensor (4), the torque speed sensor (4) is fixed on the frame (1) and located between the output shaft of the drive motor (3) and the corresponding transmission roller (13); Robot mounting frame (5), the robot mounting frame (5) is fixed on the two side walls of the frame (1) and located above the transmission belt (2), the robot to be tested (6) is mounted on the robot mounting frame (5), and the robot to be tested (6) is placed on the transmission belt (2); The testing method includes the following steps: Step 1: Testing and compensating for the frictional torque of the transmission belt. First, the LuGre model is used to model the frictional torque experienced by the transmission belt. This model comprehensively considers the Stribeck effect and hysteresis. The model conforms to the characteristics of friction, and the relationship between the friction torque and the speed of the transmission belt is as follows: ； In the formula: τ f The friction torque of the transmission belt. v Let be the transmission belt speed, and a, b, c, and d be the parameters to be estimated. First, let's consider the unloaded condition... v 1 The speed is recorded by the torque sensor. T 1 , and then - v 1 The speed is controlled, and the torque of the torque sensor is recorded. T 2 Then there is ； Thus, four different v 1 By measuring the relationship between four sets of speeds and frictional torques, a system of equations containing four parameters a, b, c, and d can be formed. The four parameters a, b, c, and d can then be solved to obtain the relationship between the frictional torque and speed of the transmission belt, which can be used for subsequent compensation of frictional resistance. Step 2: Obtain the operating parameters of the robot under test. Place the robot under test on different test surfaces, fix the test speed of the robot under test, and record the current required by the robot system at the corresponding test speed. Step 3: Place the robot under test on the transmission belt and fix it to the robot mounting frame. At this time, the driving mechanism of the robot under test will operate and cause the transmission belt to move. The transmission belt drives the output shaft of the drive motor to rotate through the transmission roller. Step 4: Based on the relationship between frictional resistance and speed in Step 1, obtain the frictional resistance of the transmission belt at the test speed in Step 2. On this basis, adjust the compensation torque of the drive motor so that the product of the voltage and current of the robot under test is equal to its state on the corresponding test surface. At this time, the motion state of the robot under test on the transmission belt is equivalent to the driving state of the robot under test on the test surface. Step 5: During the operation of Step 4, at least monitor the motion time and internal temperature rise data of the robot under test on the transmission belt, and provide data support for subsequent robot development.

2. The method for testing the performance of a ground mobile robot according to claim 1, characterized in that, In step two, the road surface to be tested includes at least grass, gravel, cement road, and slope, and the friction force of the robot to be tested (6) is different on different road surfaces.

3. The method for testing the performance of a ground mobile robot according to claim 1, characterized in that, In step two, when the frictional force of the robot under test on the test road surface at a certain speed is less than the frictional resistance of the transmission belt at that speed, the drive motor compensates for the frictional resistance, so that the driving state of the robot under test on the transmission belt is the same as the driving state of the robot under test on the corresponding test road surface.

4. The method for testing the performance of a ground mobile robot according to claim 1, characterized in that, In step four, the output torque of the drive motor (3) is in the opposite direction to the frictional resistance of the transmission belt (2).

5. The method for testing the performance of a ground mobile robot according to claim 1, characterized in that, When testing the maximum output torque of the robot under test: the drive motor was replaced with a magnetic powder brake. The magnetic powder brake was connected to the transmission roller through a torque and speed sensor. The robot under test was placed on the transmission belt and fixed to the robot mounting frame. The robot's driving mechanism moved, and the driving mechanism contacted the transmission belt, thereby driving the transmission belt to move. At this time, the magnetic powder brake was activated, and the magnetic powder braking torque was gradually increased until the robot's driving mechanism stalled. The maximum output torque of the robot under test was the sum of the frictional resistance of the transmission belt under no-load conditions and the torque value of the torque and speed sensor.

6. The method for testing the performance of a ground mobile robot according to claim 1, characterized in that, The frame (1) is a telescopic frame. The frame (1) includes frame heads (11) at both ends and frame body (12) in the middle. The frame heads (11) at both ends are slidably connected to the ends of the frame body (12) near the side. An adjusting bolt (14) is connected to the frame head (11). The adjusting bolt (14) is threadedly connected to the end of the frame body (12). The rotation of the adjusting bolt (14) causes the distance between the frame body (12) and the frame head (11) to be adjusted. The transmission roller (13) includes an active transmission roller, a driven transmission roller and a support transmission roller. An active transmission roller is rotatably connected to the frame head (11) at one end, and a driven transmission roller is rotatably connected to the frame head at the other end. The drive motor (3) and the torque and speed sensor (4) are fixed on the frame head (11) at one end and are connected to the active transmission roller. The robot mounting frame (5) is fixed on both sides of the frame body (12). The support transmission rollers are rotatably connected to the frame body (12) side by side.

7. The method for testing the performance of a ground mobile robot according to claim 6, characterized in that, The robot mounting frame (5) includes vertical rails (51) and crossbeams (52). The vertical rails (51) are arranged in pairs and fixed on the two outer side walls of the frame (12). The inner side of the vertical rails (51) that are close to each other is provided with a sliding groove. The crossbeams (52) are located between the two vertical rails in the pair and the ends of the crossbeams are adapted to slide in the sliding grooves. The crossbeams (52) are fixedly connected to the robot under test (6).

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