Heavy-load high-precision micro-thrust measurement method based on bionic knee joint inverted pendulum

Abstract

The application relates to the technical field of precision mechanics measurement, and discloses a heavy-load high-precision micro-thrust measurement method based on a bionic knee joint inverted pendulum. A micro-thruster is fixed at the center of a top plate of an inverted pendulum thrust measurement device through a customized tool, a nozzle direction is perpendicular to the side of a C-shaped rigid arm and parallel to the top plate; the top plate is connected with the bottom of a lead-angle-shaped flexible hinge in the upper layer through a fixing bolt, four lead-angle-shaped flexible hinges are respectively arranged on the four corners of the top plate and are centrally symmetric; one end of the C-shaped rigid arm is connected with the top of the lead-angle-shaped flexible hinge in the upper layer, and the other end is connected with the bottom of the lead-angle-shaped flexible hinge in the lower layer. Through the structural design of the bionic knee joint inverted pendulum, the lead-angle-shaped flexible hinge in the application is in a stretching state under the action of a load, so that the measurement error caused by buckling instability is avoided, and the overall stability of the device and the precision of thrust measurement are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of precision mechanical measurement technology, specifically a method for measuring high-precision micro-thrust under heavy loads based on a bionic knee joint inverted pendulum. Background Technology

[0002] With the rapid development of aerospace technology, microthrusters, as an important component of satellite propulsion systems, have received widespread attention. Microthrusters can convert various forms of energy into mechanical energy. Based on their energy source, they can be categorized into electric thrusters, cold gas thrusters, laser thrusters, and others. These thrusters can generate thrust ranging from sub-micronewtons to hundreds of micronewtons and are widely used in missions such as altering satellite orbits, adjusting attitude, and formation navigation, playing a crucial role in ensuring the success of space missions. In these applications, the accuracy of thrust measurement is of great significance for evaluating thruster performance and ensuring the successful implementation of missions.

[0003] Existing thrust measurement technologies primarily employ thrust test benches such as gravity pendulums and torsion balances to convert the thrust of the propeller into deformation, and then calculate the thrust magnitude by measuring the deformation of the test bench. However, with the increasing integration and complexity of micro-propulsion systems, the overall system mass also rises, posing greater challenges to thrust testing. Under high load conditions, traditional inverted pendulum thrust test benches are prone to excessive stiffness, affecting measurement accuracy. Furthermore, the test bench is in a compressed state under load, making it susceptible to buckling instability. This not only reduces the system's sensitivity but may also lead to measurement errors.

[0004] To address the buckling instability and insufficient accuracy issues in existing thrust measurement technologies, this invention employs a biomimetic knee-joint inverted pendulum structure. A chamfered flexible hinge remains in a stretched state under load, thus avoiding measurement errors caused by buckling instability. Furthermore, this invention utilizes a dynamically adjustable system stiffness design, enabling the device to adapt to different load conditions and maintain high-precision thrust measurement.

[0005] To resolve the contradiction between heavy loads and high-precision measurement, and to improve the sensitivity and accuracy of thrust measurement devices, a variable stiffness thrust measurement device and method based on a biomimetic knee-joint inverted pendulum is provided. This device and method features high sensitivity, strong stability, compact structure, no additional friction, no buckling instability, and dynamically adjustable stiffness, thus overcoming the shortcomings of existing technologies in thrust measurement accuracy under heavy load conditions. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a high-precision micro-thrust measurement method for heavy loads based on a bionic knee joint inverted pendulum, which solves the buckling instability problem of inverted pendulum devices in existing thrust measurement technologies.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solution: a heavy-load high-precision micro-thrust measuring device based on a bionic knee joint inverted pendulum, wherein the micro-thruster is fixed at the center of the top plate of the inverted pendulum thrust measuring device by a customized tooling, and the nozzle direction is perpendicular to the side of the C-shaped rigid arm and parallel to the top plate;

[0008] The top plate is connected to the bottom of the upper-layer chamfered flexible hinge by fixing bolts. The four chamfered flexible hinges are located at the four corners of the top plate and are centrally symmetrical.

[0009] One end of the C-shaped rigid arm is connected to the top of the upper-layer beveled flexible hinge, and the other end is connected to the bottom of the lower-layer beveled flexible hinge, with the whole arm parallel to the direction of gravity.

[0010] The dual-axis accelerometer is fixed to the center of the base by a custom tooling and is powered by an internal battery, eliminating the need for an additional power supply line.

[0011] The top of the liftable support rod is fixed to the four corners of the base with screws, forming a central symmetry, and the bottom is fixed to the optical plate with screws.

[0012] One of the electrostatic combs is fixed to the top plate by a custom tooling, and the other is fixed to a multi-six-degree-of-freedom adjustment device, and is adjusted according to the relative attitude information between the electrostatic combs provided by the industrial camera;

[0013] The non-magnetic uniform iron blocks are symmetrically placed on the top plate, and are rigidly connected to the top plate by screws.

[0014] A method for measuring high-precision micro-thrust under heavy loads based on a biomimetic knee-joint inverted pendulum includes the following steps:

[0015] Step a) Construct a biomimetic knee joint inverted pendulum structure consisting of a mounting top plate, a base, a C-shaped rigid arm, and a beveled flexible hinge;

[0016] Step b) Install a micro-thruster at the center of the top plate to generate electrostatic force through an electrostatic comb and a high-voltage power supply;

[0017] Step c) Measure the displacement and tilt angle changes of the front and rear frames before and after the electrostatic force is applied using a capacitive displacement sensor and a biaxial accelerometer;

[0018] Step d) Ensure the relative posture of the electrostatic comb is accurate by adjusting the six-degree-of-freedom adjustment device;

[0019] Step e) Calculate the thrust of the micro-thruster based on the electrostatic force and displacement changes.

[0020] Preferably, in step c), the stiffness K of the platform s Calculated using the following formula:

[0021]

[0022] Where V1 is the applied voltage, k e x2 is the electrostatic force conversion coefficient, and x1 is the displacement difference of the test platform.

[0023] Preferably, in step b), the thrust F of the micro-thruster T Calculated using the following formula:

[0024] F T =K s ·(x4-x3)

[0025] Where x4-x3 is the displacement difference before and after the micro-thruster operates.

[0026] Preferably, in step c), the system stiffness is adjusted by placing a non-magnetic uniform iron block on the top plate. The stiffness of the platform varies with the mass M of the non-magnetic block, and its stiffness calculation formula is:

[0027]

[0028] Among them, L h denoted as the distance between the upper and lower flexible hinges, and g as the acceleration due to gravity.

[0029] Preferably, in step c), the maximum load capacity M max-f Determined by the following formula:

[0030]

[0031] Where, σ yield The yield stress is the yield stress of the guide-angle flexible hinge material.

[0032] Preferably, in step c), the maximum load-bearing capacity M of the traditional inverted pendulum frame... max-c for:

[0033]

[0034] Where, σ cr The buckling stress is for the flexible hinge material.

[0035] Preferably, in step b), the ratio η of the maximum load-bearing capacity of the bionic knee joint inverted pendulum frame to that of the traditional inverted pendulum frame is:

[0036]

[0037] This ratio indicates that the bionic knee joint inverted swing frame has a higher load-bearing capacity under high load conditions.

[0038] Preferably, in step d), the relative posture of the electrostatic comb is visually adjusted by two industrial cameras placed at a 90-degree angle to ensure that the comb teeth overlap each other and that the spacing between the comb teeth is equal.

[0039] Preferably, in step e), a precision electronic balance is used to record the changes in electrostatic force when different voltages are applied, and the voltage is gradually adjusted based on the readings of the electronic balance to calculate the conversion coefficient k between the working voltage and the electrostatic force. e .

[0040] This invention provides a high-precision micro-thrust measurement method for heavy-load applications based on a biomimetic knee joint inverted pendulum. It offers the following advantages:

[0041] 1. This invention employs a biomimetic knee-joint inverted pendulum structure design. The beveled flexible hinge in this invention is in a stretched state under load, rather than the compressed state found in traditional inverted pendulums. This avoids measurement errors caused by buckling instability, significantly improving the overall stability of the device and the accuracy of thrust measurement. Even under heavy load conditions, the system maintains high sensitivity, meeting the high-precision measurement requirements of sub-micronewton to 100-micronewton thrust generated by micro-thrusters.

[0042] 2. This invention adjusts the system's stiffness by adding a non-magnetic, uniform iron block to the top plate. This design allows the system to dynamically adjust its stiffness according to different testing requirements, ensuring that the device achieves optimal measurement results and sensitivity under various experimental conditions. This not only improves the system's applicability but also effectively addresses thrust measurement under different loads.

[0043] 3. This invention employs a dual-axis accelerometer, a six-degree-of-freedom adjustment device, and a capacitive displacement sensor, ensuring high stability and consistency under various experimental environments. Even under less-than-ideal environmental conditions (such as slight vibrations or environmental disturbances), the system can still maintain measurement accuracy and provide stable measurement results through precision sensors. Attached Figure Description

[0044] Figure 1 This is a perspective view of the present invention;

[0045] Figure 2 This is a three-dimensional top view of the present invention;

[0046] Figure 3 This is a front view of the present invention;

[0047] Figure 4 This is a schematic diagram on the right side of the present invention;

[0048] Figure 5 This is a schematic diagram of the beveled flexible hinge portion of the present invention;

[0049] Figure 6 This is an analytical diagram of the pendulum thrust platform of the present invention;

[0050] Figure 7 This is a force deformation analysis diagram of the pendulum thrust platform of the present invention;

[0051] Figure 8 This is a flowchart of the method of the present invention.

[0052] Among them, 1. Micro thruster; 2. Top plate; 3. C-shaped rigid arm; 4. Dual-axis accelerometer; 5. Liftable support rod; 6. Optical plate; 7. Lower-layer beveled flexible hinge; 8. Base; 9. Electrostatic comb; 10. Upper-layer beveled flexible hinge; 11. Industrial camera; 12. Non-magnetic uniform iron block. Detailed Implementation

[0053] 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.

[0054] Example 1:

[0055] Please see the appendix Figure 1 - Appendix Figure 8 The present invention provides a heavy-load high-precision micro-thrust measuring device based on a bionic knee joint inverted pendulum. The micro-thruster 1 is fixed at the center of the top plate of the inverted pendulum thrust measuring device by a customized tooling. The nozzle direction is perpendicular to the side of the C-shaped rigid arm 3 and parallel to the top plate 2.

[0056] The top plate 2 is connected to the bottom of the upper-layer chamfered flexible hinge 10 by fixing bolts. The four chamfered flexible hinges 7 are located at the four corners of the top plate 2 and are centrally symmetrical.

[0057] One end of the C-shaped rigid arm 3 is connected to the top of the upper-layer beveled flexible hinge 10, and the other end is connected to the bottom of the lower-layer beveled flexible hinge 7. The whole arm is parallel to the direction of gravity.

[0058] The dual-axis accelerometer 4 is fixed to the center of the base 8 by a custom fixture and is powered by an internal battery, eliminating the need for an additional power supply line.

[0059] The top of the liftable support rod 5 is fixed to the four corners of the base 8 with screws, which is centrally symmetrical, and the bottom is fixed to the optical plate 6 with screws.

[0060] One of the electrostatic combs 9 is fixed to the top plate 2 by a custom tooling, and the other is fixed to a multi-six-degree-of-freedom adjustment device, and is adjusted according to the relative attitude information between the electrostatic combs provided by the industrial camera 11;

[0061] Non-magnetic uniform iron blocks 12 are symmetrically placed on the top plate 2, and the non-magnetic uniform iron blocks 12 are rigidly connected to the top plate 2 by screws. The micro thruster 1 is fixed at the center of the top plate of the inverted pendulum thrust measuring device by customized tooling. The nozzle direction is perpendicular to the side of the C-shaped rigid arm 3 and parallel to the top plate 2.

[0062] The top plate 2 is connected to the bottom of the upper-layer chamfered flexible hinge 10 by fixing bolts. The four chamfered flexible hinges 7 are located at the four corners of the top plate 2 and are centrally symmetrical.

[0063] One end of the C-shaped rigid arm 3 is connected to the top of the upper-layer beveled flexible hinge 10, and the other end is connected to the bottom of the lower-layer beveled flexible hinge 7. The whole arm is parallel to the direction of gravity.

[0064] The dual-axis accelerometer 4 is fixed to the center of the base 8 by a custom fixture and is powered by an internal battery, eliminating the need for an additional power supply line.

[0065] The top of the liftable support rod 5 is fixed to the four corners of the base 8 with screws, which is centrally symmetrical, and the bottom is fixed to the optical plate 6 with screws.

[0066] One of the electrostatic combs 9 is fixed to the top plate 2 by a custom tooling, and the other is fixed to a multi-six-degree-of-freedom adjustment device, and is adjusted according to the relative attitude information between the electrostatic combs provided by the industrial camera 11;

[0067] Non-magnetic uniform iron blocks 12 are symmetrically placed on the top plate 2, and the non-magnetic uniform iron blocks 12 are rigidly connected to the top plate 2 by screws.

[0068] Example 2:

[0069] This embodiment provides a method for measuring high-precision micro-thrust under heavy load based on a bionic knee joint inverted pendulum, building upon the above embodiments.

[0070] Includes the following steps:

[0071] Step a) Construct a biomimetic knee joint inverted pendulum structure consisting of a mounting top plate 2, a base 8, a C-shaped rigid arm 3, and a beveled flexible hinge;

[0072] Step b) Install micro-thruster 1 at the center of top plate 2 to generate electrostatic force through electrostatic comb 9 and high voltage power supply;

[0073] Step c) Measure the displacement and tilt angle changes of the front and rear frames before and after the electrostatic force is applied using a capacitive displacement sensor and a dual-axis accelerometer 4.

[0074] Step d) Ensure the relative orientation of the electrostatic comb 9 is accurate by adjusting the six-degree-of-freedom adjustment device;

[0075] Step e) Calculate the thrust of micro-thruster 1 based on electrostatic force and displacement changes.

[0076] Step c) Stiffness K of the test bench s Calculated using the following formula:

[0077]

[0078] Where V1 is the applied voltage, k e x2 is the electrostatic force conversion coefficient, and x1 is the displacement difference of the test platform.

[0079] Step b) Thrust F of micro-thruster 1 T Calculated using the following formula:

[0080] F T =K s ·(x4-x3)

[0081] Where x4-x3 is the displacement difference before and after the micro-thruster operates.

[0082] Step c) The system stiffness is adjusted by placing a non-magnetic uniform iron block 12 on the top plate 2. The stiffness of the platform varies with the mass M of the non-magnetic block, and its stiffness calculation formula is:

[0083]

[0084] Among them, L h denoted as the distance between the upper and lower flexible hinges, and g as the acceleration due to gravity.

[0085] Step c) Maximum load capacity M max-f Determined by the following formula:

[0086]

[0087] Where, σ yield The yield stress is the yield stress of the guide-angle flexible hinge material.

[0088] Step c) Maximum load capacity M of the traditional inverted pendulum frame max-c for:

[0089]

[0090] Where, σ cr The buckling stress is for the flexible hinge material.

[0091] Step b) The ratio η of the maximum load-bearing capacity of the bionic knee joint inverted pendulum frame to that of the traditional inverted pendulum frame is:

[0092]

[0093] This ratio indicates that the bionic knee joint inverted swing frame has a higher load-bearing capacity under high load conditions.

[0094] Step d) The relative posture of the electrostatic comb 9 is visually adjusted by two industrial cameras placed at a 90-degree angle to ensure that the comb teeth of the electrostatic comb overlap each other and that the spacing between the comb teeth is equal.

[0095] Step e) Use a precision electronic balance to record the changes in electrostatic force when different voltages are applied, and gradually adjust the voltage based on the balance readings to calculate the conversion coefficient k between the working voltage and the electrostatic force. e .

[0096] In one embodiment, the main working process of the device involved in this invention is as follows:

[0097] The device of this invention is constructed using a chamfered flexible hinge, a C-shaped rigid arm 3, a top plate 2, a base 8, an electrostatic comb 9, a high-voltage power supply, a capacitive displacement sensor, and an eddy current damper.

[0098] The electrostatic attraction between two electrostatic combs after applying voltage is measured using a precision electronic balance. One electrostatic comb is fixed at the center of the balance pan, while the other electrostatic comb 9 is fixed to a six-degree-of-freedom adjustment device using a custom-designed fixture. The relative positions of the two electrostatic combs are determined using two cameras placed at a 90-degree angle, and the orientation of the electrostatic comb 9 is adjusted using the six-degree-of-freedom adjustment device until its comb teeth overlap and the spacing between the teeth is equal. The positive and negative terminals of a high-voltage power supply are connected to the two electrostatic combs respectively. The applied voltage is then changed in equal steps and maintained for a certain period of time. The changes in the electronic balance reading are recorded sequentially, and the magnitude of the electrostatic force under different voltages is calculated to determine the relationship between the working voltage V and the electrostatic force F. e .

[0099]

[0100] One electrostatic comb 9 is mounted on one side of the pendulum frame, and the other electrostatic comb 9 is mounted on a six-degree-of-freedom adjustment device. A dual-camera-based visual attitude adjustment scheme is used to adjust the relative attitude of the electrostatic combs to match that during weighing on the balance. A voltage V1 is applied to the electrostatic comb 9 via a high-voltage power supply, and a determined conversion coefficient k is used... e The magnitude of the applied electrostatic force can then be obtained. By using a capacitive displacement sensor to obtain the positions x1 and x2 of the top of the inverted pendulum frame before and after the application of the electrostatic force, the stiffness of the device at this time can be calculated.

[0101]

[0102] The micro-thruster 1 to be tested was installed at the center of the top plate of the device. A capacitive displacement sensor was used to obtain the positions x3 and x4 of the top of the inverted pendulum platform before and after the micro-thruster 1 generated thrust. The platform stiffness K was determined. s The magnitude of the thrust generated by the micro-thruster can be obtained.

[0103] F T =K s ·(x4-x3)

[0104] The stiffness of the system can be changed by placing a non-magnetic uniform iron block of mass M on top of the pendulum frame. If the distance between the upper and lower flexible hinges is L... h Then the stiffness of the platform becomes

[0105]

[0106] Since the guide-angle flexible hinges that act as the rotating shafts in this device are all in a tensile state under the load of gravity, the ultimate load is the yield stress σ of the material used for the flexible hinges. yield Since the four flexible hinges on the lower layer mainly act as the pivot points of the platform, the maximum load-bearing mass M of the bionic knee joint inverted pendulum platform is... max-f In the formula, g is the local gravitational acceleration.

[0107]

[0108] In traditional inverted pendulum frames with the same effective structural parameters, the pivot is in a compressed state under the load of gravity. Therefore, the ultimate load is the buckling stress σ of the material used for the flexible hinge. cr Therefore, the maximum load capacity M of a traditional inverted pendulum stand is... max-c for

[0109]

[0110] In this invention, the ratio η of the maximum load-bearing capacity of the bionic knee joint inverted pendulum platform to that of a traditional platform is:

[0111]

[0112] In one embodiment, the device of the present invention is first assembled. The micro-thruster 1 and the non-magnetic uniform iron block 12 are respectively installed at the center and on both sides of the top plate 2. The electrostatic comb 9 is fixed to one side of the top plate 2, the industrial camera 11 is installed directly above the electrostatic comb 9, and the dual-axis accelerometer 4 is installed at the center of the base 8.

[0113] The tilt state of the base 8 is measured by the biaxial accelerometer 4 to obtain the initial tilt angle on the horizontal plane. The tilt angle is adjusted to 0 by the liftable support rod 5 so that it is parallel to the horizontal plane.

[0114] A high-voltage power supply is used to apply voltage to the electrostatic comb 9, creating a potential difference ΔV between the two combs. The electrostatic force at this point is measured using a precision electronic balance and is found to be F. e Determine the relationship between the working voltage V and the electrostatic force F. e Conversion coefficient k e =F E / ΔV 2 .

[0115] The stiffness of the inverted pendulum thrust platform is calibrated using an electrostatic comb 9. A voltage V1 is applied to the electrostatic comb 9, and the displacement Δx at the top of the thrust platform is obtained. Using the conversion factor ke, the platform stiffness can be calculated as follows:

[0116] Obtain the displacement Δ of the top of the thrust platform before and after the micro-thruster 1 operates. x1 According to the system stiffness K s -M gives the thrust generated by micro-thruster 1 as: F T＝ K s -M·Δ x1

[0117] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A high-precision micro-thrust measurement device based on a bionic knee joint inverted pendulum, characterized in that, a micro-thruster (1) is fixed at the center of the top plate of the inverted pendulum thrust measurement device by a customized tool, the nozzle direction is perpendicular to the side of the C-shaped rigid arm (3) and parallel to the top plate (2); the top plate (2) is connected to the bottom of the upper guide-angle flexible hinge (10) by a fixing bolt, and the four lower guide-angle flexible hinges (7) are respectively arranged on the four corners of the top plate (2) and are centrally symmetric; one end of the C-shaped rigid arm (3) is connected to the top of the upper guide-angle flexible hinge (10), and the other end is connected to the bottom of the lower guide-angle flexible hinge (7), and the whole is parallel to the direction of gravity; a dual-axis accelerometer (4) is fixed at the center of the base (8) by a customized tool, and is powered by an internal battery without the need to introduce additional power supply lines; the top of the liftable support rod (5) is fixed on the four corners of the base (8) by screws and is centrally symmetric, and the bottom is fixed on the optical flat plate (6) by screws; one of the electrostatic combs (9) is fixed on the top plate (2) by a customized tool, and the other is fixed on a multi-six-degree-of-freedom adjusting device and is adjusted according to the relative attitude information between the electrostatic combs (9) provided by the industrial camera (11); a non-magnetic uniform iron block (12) is symmetrically placed on the top plate (2), and the non-magnetic uniform iron block (12) is rigidly connected to the top plate (2) by screws.

2. The method according to claim 1, wherein the device is characterized by, The steps include: Step a), building a bionic knee joint inverted pendulum structure composed of a mounting top plate (2), a base (8), a C-shaped rigid arm (3), and a guide-angle flexible hinge; Step b), installing a micro-thruster (1) at the center of the top plate (2), generating electrostatic force through the electrostatic comb (9) and a high-voltage power supply; Step c), measuring the displacement and inclination angle change of the gantry before and after the application of electrostatic force through a capacitive displacement sensor and a dual-axis accelerometer (4); Step d), adjusting the six-degree-of-freedom adjusting device to ensure the accurate relative attitude of the electrostatic comb (9); Step e), calculating the thrust of the micro-thruster (1) according to the electrostatic force and the displacement change.

3. The method according to claim 2, wherein, The rigidity K of the bench of step c) s Is calculated by the following formula: wherein V1 is the applied voltage, k e is the electrostatic force conversion coefficient, and x2-x1 is the displacement difference of the gantry.

4. The method for heavy-load high-precision micro-thrust measurement based on the bionic knee joint inverted pendulum according to claim 2, characterized in that, Said step b) the thrust F of the micro-propeller (1) T By the following formula: F T = K s ·(x4-x3) Where x4-x3 is the displacement difference before and after the micro-thruster works.

5. The method for heavy-load high-precision micro-thrust measurement based on the bionic knee joint inverted pendulum according to claim 2, characterized in that, The adjustment of the system stiffness in step c) is realized by placing a non-magnetic uniform iron block (12) on the top plate (2), and the stiffness of the gantry changes with the mass M of the non-magnetic iron block, and the stiffness calculation formula is: where L h is the distance between the upper and lower flexible hinges, and g is the acceleration of gravity.

6. The method for heavy-load high-precision micro-thrust measurement based on the bionic knee joint inverted pendulum according to claim 2, characterized in that, said step c) maximum load mass M max-f is determined by the following equation: where σ yield is the yield stress of the angular flexible hinge material.

7. The method for heavy-load high-precision micro-thrust measurement based on the bionic knee joint inverted pendulum according to claim 2, characterized in that, Said step c) of the maximum supported mass M of the traditional inverted pendulum rig is: max-c M = 0.5 * m * g where σ cr is the buckling stress of the flexible hinge material.

8. The method for heavy-load high-precision micro-thrust measurement based on the bionic knee joint inverted pendulum according to claim 2, characterized in that, The ratio η of the maximum bearing mass of the bionic knee joint inverted pendulum gantry to the traditional inverted pendulum gantry in step b) is: This ratio indicates that the bionic knee joint inverted pendulum gantry has higher bearing capacity under high load conditions.

9. The method for heavy-load high-precision micro-thrust measurement based on the bionic knee joint inverted pendulum according to claim 2, characterized in that, The relative attitude of the electrostatic comb (9) in step d) is adjusted visually by two industrial cameras placed at 90 degrees, ensuring that the comb teeth overlap each other and maintain equal spacing between the comb teeth.

10. The method for heavy-load high-precision micro-thrust measurement based on the bionic knee joint inverted pendulum according to claim 2, characterized in that, The step e) employs a precision electronic balance to record the change of electrostatic force when different voltages are applied, and according to the reading of the electronic balance, the voltage is adjusted step by step to calculate the conversion coefficient k between the working voltage and the electrostatic force e .

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