CN100363707C - Precisive determining system of mechanical arm location and gesture in space - Google Patents

Precisive determining system of mechanical arm location and gesture in space Download PDF

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CN100363707C
CN100363707C CN 200610009822 CN200610009822A CN100363707C CN 100363707 C CN100363707 C CN 100363707C CN 200610009822 CN200610009822 CN 200610009822 CN 200610009822 A CN200610009822 A CN 200610009822A CN 100363707 C CN100363707 C CN 100363707C
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system
fixed
link
space manipulator
vii
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CN1818537A (en
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宏 刘
史士财
谢宗武
金明河
高晓辉
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哈尔滨工业大学
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Abstract

空间机械臂位姿精度测试系统,涉及一种对空间机械臂进行测试的系统。 Space manipulator pose accuracy test system, it relates to a system for testing space manipulator. 现有对空间机械臂进行测试的系统存在结构复杂、调试困难、安全可靠性低以及现有气浮测试系统只能实现二维运动的问题。 There is a complex structure, difficult to debug, low reliability and safety of existing flotation test system can only achieve the two-dimensional motion of the problems existing space manipulator system for testing. 空间机械臂位姿精度测试系统,它包括三坐标测量机(Ⅰ),它还包括设置在三坐标测量机(Ⅰ)的上方、与空间机械臂(Ⅶ)连接的固定系统(Ⅱ)、旋转支撑系统(Ⅲ)、气浮支撑系统(Ⅳ)、末端靶标(Ⅴ)和基座靶标(Ⅵ);本发明所述测试系统结构简单、容易调试、安全可靠性高以及同时可以实现空间机械臂三维运动,利于推广应用。 Space manipulator pose accuracy test system, comprising a coordinate measuring machine (Ⅰ), further comprising a coordinate measuring machine disposed above (Ⅰ) is connected to the space manipulator (Ⅶ) fixing system (Ⅱ), rotation the support system (ⅲ), flotation support system (IV), the target terminal (ⅴ) and a base target (ⅵ); the simple structure of the present invention, the test system, easy to debug, high safety and reliability, and can achieve space manipulator three-dimensional motion, which will help expand the applications.

Description

空间机械臂位姿精度测试系统 Space manipulator pose accuracy test system

技术领域 FIELD

本发明涉及一种对空间机械臂进行测试的系统。 The present invention relates to a system for testing space manipulator. 背景技术 Background technique

空间机械臂系统的关节驱动力矩通常都很有限,在地面重力环境下很难甚至无法正常工作,为在地面对空间机械臂系统进行测试,需要专门设计相关的测试设备。 Joint drive torque space manipulator system is usually very limited, it is difficult if not impossible to work under ground gravity environment, in the face of testing for the space manipulator system, the need for specialized design-related test equipment. 目前为止,世界各国科研机构设计和采用的空间机械臂地面测试系统主要包括吊丝配重、水浮、气浮和自由落体等几种方式。 So far, research institutions around the world design and the use of ground testing of space manipulator system includes a counterweight hanging wire, water floating, flotation and freefall in several ways. 这些方法各有优缺点,其中,吊丝配重方法(卡梅隆大学)可以实现机械臂的六自由度运动,且对机械臂的运动限制较少,但是吊丝方法系统复杂, These methods have advantages and disadvantages, which method counterweight hanging wire (Carnegie Mellon) can achieve six degrees of freedom of the manipulator, and the manipulator is less restriction on the movement, but the method of hanging wire system complexity,

调试困难,安全可靠性差;水浮方法(马里兰大学)利用水的浮力平衡重力,可以实现零重力环境的模拟,但是水浮系统需要克服水中较大的阻力, 而且需要对系统进行较大的改造;气浮方法(加拿大空间机械臂实验方法) 利用气浮轴承,将机械臂托在平整的平台上,利用喷气推力抵消重力影响, 气浮方式结构简单,易于实现,但是受限于只能进行平面运动实验。 Commissioning difficulties, poor security and reliability; water floating method (University of Maryland) use the buoyancy of water balance and gravity, simulate zero-gravity environment can be achieved, but a large water floating system to overcome the resistance of the water, and the system needs to be larger transformation ; flotation method (Canadian space manipulator experimental method) using the air bearing, the robotic arm rests on a flat platform, using jet thrust to offset the influence of gravity, flotation simple way to structure, easy to implement, but is limited to only plane exercise test. 因此, 世界上现有的对空间机械臂进行测试的系统都存在着诸多不能弥补的缺陷。 Therefore, the existing system of world space manipulator testing there are many irreparable defects.

发明内容 SUMMARY

针对现有对空间机械臂进行测试的系统存在结构复杂、调试困难、安全可靠性低以及现有气浮测试系统只能实现二维运动的问题,本发明提供一种结构简单、容易调试、安全可靠性高以及同时可以实现空间机械臂三维运动的测试系统。 For existing systems for space robotic arm to test the existence of complex structure, difficult to debug, low reliability and safety of existing flotation test system can only achieve the two-dimensional motion of a problem, the present invention is to provide a structure is simple, easy debugging, security and high reliability can be achieved while the system testing of three-dimensional motion of space manipulator.

空间机械臂位姿精度测试系统,它包括三坐标测量机I,它还包括设置在三坐标测量机I的上方、与空间机械臂VII连接的固定系统II、旋转支撑 Space manipulator pose accuracy test system, comprising CMM I, further comprising disposed above the CMM I fixed space manipulator system connected VII II, rotatably supported

系统III、气浮支撑系统IV、末端靶标V和基座靶标VI;所述各系统的具体结构为:气浮支撑系统IV在结构上包括气浮轴承1、与气浮轴承l固定的带U形槽的第一支架2和设置在支架U形槽上端的第一压环3;旋转支 System III, IV flotation support system, and a base end of the target V Vl target; the specific configuration of each system is: IV flotation support system 1 comprises air bearing, air bearing and fixed with U l in structure a first bracket 2 and the first pressure ring-shaped groove provided at the upper end of the U-shaped groove of the bracket 3; rotation support

撑系统III在结构上包括支撑轴4和设置在支撑轴4外表面的外环座5,外 III support system comprises a support structure on a shaft 4 and the outer holder 5 provided on the outer surface of the support shaft 4, the outer

环座5与支撑轴4之间通过轴承连接,在支撑轴4的端部设有与其螺纹连接的螺杆6,螺杆6的端头通过螺母7固定在第二支架8上;在所述螺杆6 的下方设有配重块9;固定系统II在结构上包括机械臂支撑平台10、压板11和第二压环12,所述机械臂支撑平台10设置在旋转支撑系统III的外环座5的下方,所述压板11设置在外环座5的上方,所述压板11通过螺钉44固定在机械臂支撑平台10的上表面上;所述第二压环12的下端设有固定轴13,固定轴13插在支撑平台10上的孔内;末端靶标V和基座靶标VI由相互之间成一定角度的两根连杆和设置在连杆端头的金属球组成;所述各系统的连接关系为:气浮支撑系统IV的第一压环3与固定系统II的第二压环12分别固定在位于空间机械臂VII中心位置两端的关节外壳上;所 Ring seat 5 between the support shaft 4 through a bearing connection, at an end portion of the support shaft 4 is provided with a screw thread 6 connected thereto, the tip of the screw 6 by a nut 7 secured to the second bracket 8; the screw 6 is provided below the counterweight 9; II comprises a robot arm system fixed platform 10, the pressure plate 11 and the pressure ring 12 in the second structure, the robot arm 10 is provided on the rotating platform support system III base 5 of the outer ring below, the pressure plate 11 is disposed above the base 5 of the outer ring, the pressure plate 11 by a screw 44 fixed to the upper surface of the support platform 10 of the robot arm; the lower end of the second pressure ring 12 is provided with a fixed shaft 13 fixed to shaft 13 is inserted in a hole 10 on the support platform; end of the target V and VI of the base between the target angle to each other and disposed on the two links metal ball rod tip composition; connecting the respective system relationship: IV flotation support system to the first pressure ring 3 and the second pressure ring 12 fixed system II at both ends are fixed to the central space manipulator position VII joint housing; the

述旋转支撑系统m上支撑轴4的一端安装到空间机械臂vn的关节外壳上, Said support shaft rotatably supported on one end of the system of m 4 is mounted to the joint space manipulator vn of the housing,

旋转支撑系统III上的第二支架8固定在空间机械臂VII的臂杆上;所述末端耙标V和基座耙标VI分别固定在空间机械臂VII的两个端部。 A second holder on the rotating support system III 8 fixed space manipulator arm lever VII; and the subscript V and a base end rake rake marked VI are fixed at both ends of the space manipulator VII.

本发明所述测试系统可以实现空间机械臂的三维空间运动,可以直接测量空间机械臂的位姿精度,不需要中间的折算过程,因此测试容易,并且该测试系统结构简单,不需要对空间机械臂进行结构改造,因此可以提高工作效率,并且测量费用低,利于推广应用。 The test system of the present invention may be three-dimensional movement space manipulators, can be measured directly Pose Accuracy space manipulators, without an intermediate conversion process, the test is easy, and the test system configuration is simple, does not require mechanical space arm structural transformation, it is possible to improve work efficiency, and low cost measure, which will help expand the applications.

附图说明 BRIEF DESCRIPTION

图1是本发明所述测试系统的整体结构示意图,图2是具体实施方式 FIG 1 is an overall schematic configuration of the test system of the invention, FIG 2 is a specific embodiment

一所述空间机械臂vn结构示意图,图3是旋转支撑系统in、末端靶标v The schematic structure of a space manipulator vn, FIG. 3 is a rotary support system in, the end of the target v

及基座靶标VI与空间机械臂VII的连接结构示意图,图4是图3的AA剖视图,图5是图3的左视图,图6是气浮支撑系统IV的立体结构示意图, 图7是气浮支撑系统IV的主视图,图8是图7的俯视图,图9是具体实施方式六所述空间机械臂测量坐标系建立方法示意图。 And a base connected to structural diagram VI to the target space manipulator VII of FIG. 4 is a sectional view AA of FIG. 3, FIG. 5 is a left side view of FIG. 3, FIG. 6 is a perspective schematic structural diagram IV flotation support system of FIG. 7 is a gas IV floating front view of the support system, FIG 8 is a plan view of FIG. 7, FIG. 9 is a specific embodiment of the manipulator six spatial coordinates measuring schematic established methods. 具体实施方式 Detailed ways

具体实施方式一:传统的气浮系统只能实现系统的二维平面运动,无法实现空间机械臂所需要的空间运动。 DETAILED DESCRIPTION One: traditional flotation system can only achieve the two-dimensional motion system, the motion can not be achieved space space manipulator need. 为了测试空间机械臂的位姿精度, 需要空间机械臂的所有关节一起运动,这样得到的位姿精度才是整个空间机械臂的位姿精度。 In order to test the accuracy of the pose space manipulator, you need all the space manipulator joint movement together, pose accuracy obtained in this way is the pose accuracy throughout the space manipulator. 因此,本实施方式提供了一种对具有空间三维运动的机械臂的位姿精度进行测试的系统,可以通过本实施方式所述测试系统进 Accordingly, the present embodiment provides a system having a spatial pose accuracy of three-dimensional motion of the manipulator for testing, the test system can feed the present embodiment

行测试的空间机械臂为具有六个自由度、可以实现空间三维运动的机械臂, Space Manipulator lines tested with six degrees of freedom, can achieve three-dimensional motion of space manipulator,

其具体结构可以是任意可实现三维运动的空间机械臂,也可以是如图2所 The specific structure may be any of spatial three-dimensional movement of the manipulator, in FIG. 2 may be

示的具有六个旋转关节的空间机械臂,图2所示的空间机械臂vn,已申请 Space manipulator having six rotary joints illustrated, vn space manipulator shown in Figure 2, has applied

专利,申请号为200610009814.7 。 Patent Application No. 200610009814.7. 该空间机械臂由以下部件组成(参照图2》 The space manipulator comprises the following components (see FIG. 2 "

a. 六个关节:关节一22,关节二23,关节三24,关节四25,关节五26和关节六27; . A six joints: a joint 22, two joints 23, 24 three joints, four joints 25, 26 and five joints 27 six joints;

b. 七个关节外壳:关节外壳一28,关节外壳二29,关节外壳三30, 关节外壳四31,关节外壳五32,关节外壳六33和关节外壳七34; . B seven joint housing: a housing joint 28, the joint housing 29 two, three housing joint 30, the joint housing 31 four, five joint housing 32, the joint housing and the joint housing 33 six seven 34;

c. 三个臂杆:臂杆一35,臂杆二36和臂杆三37。 . C three arm: a lever arm 35, two arms 36 and three arms 37.

参照图1,本实施方式对具有空间三维运动的机械臂的位姿精度进行测试的系统包括三坐标测量机I和设置在三坐标测量机I的上方、与空间机械臂VII连接的固定系统II、 一部分设置在固定系统II内的旋转支撑系统III、气浮支撑系统IV、末端耙标V和基座耙标VI;本实施方式选用的三坐标测量机I是Brown&Sharpe公司生产的三坐标测量机。 System Referring to FIG 1, the present embodiment tests the pose accuracy space having three-dimensional motion of a robot arm CMM comprises I and disposed above the CMM I fixed space manipulator system connected VII II , provided in the fixed part of the system II of the rotary support system III, IV flotation support system, and a base end of the rake rake subscript subscript V Vl; optional embodiment according to the present embodiment CMM I is produced by Brown & Sharpe CMM .

所述各系统的具体结构为: The specific configuration of each system is:

参照图6、图7、图8,气浮支撑系统IV在结构上包括气浮轴承1、与气浮轴承1固定的带U形槽的第一支架2和设置在支架U形槽上端的第一压环3,本实施方式所述气浮支撑系统IV上的气浮轴承1为两个,分别固定在第一支架2的两侧,所述第一压环3是通过两个可拆连接的半环组合而成。 Referring to FIG. 6, 7, 8, IV flotation support system including a first air bearing 1 of the first bracket, and an air bearing fixed with a U-shaped groove provided at an upper frame 2 and the U-shaped groove in the structure a pressure ring 3, the air bearing on the present embodiment, the flotation system supporting two IV 1, are fixed at both sides of the first support 2, the first press ring 3 is detachably connected by two the combination of half-rings. 使用时,气浮轴承1设置在三坐标测量机I的大理石平台上(参照图1),将第一压环3固定在空间机械臂VII的关节上,使气浮支撑系统IV与空间机械臂VII连接成为一个整体。 In use, an air bearing is provided on a coordinate measuring machine I marble platform (see FIG. 1), the first pressure ring 3 is fixed to the joint space manipulator VII of the flotation support system with space manipulator IV VII connected as a whole. 由供气设备提供的高压气体从气浮轴承l的进气口1-1进入,然后气体从出气口1-2排出,由于高压气体在排出过程中,可以提供对气浮轴承1反方向的作用力,从而可以克服空间机械臂本身的重力,将其支起,使其悬浮于三坐标测量机I的大理石平台上, 从而减小关节三24的运动阻力。 Gas supply equipment provided by high pressure gas from the intake port into the air-bearing l, 1-1, and then the gas is discharged from the outlet port 1-2, since the high-pressure gas in the discharge process, may be provided on an air bearing in the opposite direction force, thereby space manipulator itself against gravity, from its support, so that the coordinate measuring machine I was suspended in the marble platform, thereby reducing the resistance to motion of the joint 3:24. 因此,在空间机械臂VII位置精度测量时, 气浮支撑系统IV可以使关节二23和关节三24在平面二维空间运动(关节结构参见图2)。 Thus, when the positional accuracy of the robot arm measuring spatial VII, IV flotation support system 23 can make two joints and the joint plane in the three-dimensional spatial movement 24 (see FIG. 2 articular structures).

旋转支撑系统m(参照图3、图4)在结构上包括支撑轴4和设置在支撑 M rotary support system (refer to FIG. 3, FIG. 4) includes a support shaft 4 and is disposed on the support structure

轴4外表面的外环座5,外环座5与支撑轴4之间通过轴承连接,轴承通过机械臂支撑轴承压环压紧,在支撑轴4的端部设有与其螺纹连接的螺杆6, 螺杆6的端头通过螺母7固定在第二支架8上;在所述螺杆6的下方设有配重块9;连接时,将所述旋转支撑系统III上支撑轴4的一端安装到空间机械臂VII的关节外壳上,旋转支撑系统III上的第二支架8固定在空间机械臂VII的臂杆上,固定方式可以是通过螺栓和机械臂压环20固定到臂杆21上,也可以采取其它如螺钉连接的方式进行固定。 Outer housing 5 of the outer surface of the shaft 4, between the outer ring 4 via a bearing housing connected to the support shaft 5, by a robot arm bearing the pressing pressure ring bearing, is provided at the end portion of the support shaft 4 of the screw 6 screwed thereto , the tip of the screw 6 by a nut 7 secured to the second bracket 8; screw 6 is provided below the counterweight block 9; connection, the rotating shaft support system III support 4 is mounted to an end of the space VII housing upper joint robot arm, and a second holder rotatably supported on the fixed arm system III 8 VII space manipulator lever, the fixing means may be a robot arm by a bolt and a clamping ring 20 secured to the arm 21, may be take other means such as a screw connection is secured. 在对空间机械臂VII 进行位置精度测量时,空间机械臂旋转支撑系统III可以使关节四25实现旋转运动,关节四25在旋转时,可以带动空间机械臂VII的臂杆21和第二支架8同时以关节四25和支撑轴4为中心作一定角度的旋转,在臂杆21 旋转时,配重块9可以克服由于关节二23、关节三24、关节外壳二29、关节外壳三30和臂杆一35对关节四25产生的偏载力矩。 When the spatial position measurement accuracy manipulator VII, III space manipulator rotation support system 25 can achieve four rotational movement of the joints, four joints 25 during rotation, it can be driven VII space manipulator arm 21 and the second bracket 8 while the joint four 25 and a support shaft 4 as the center rotational certain angle, when the 21 rotating arm, the counterweight 9 may overcome the joint 2:23, joint 3:24, articulation housing two 29, the joint housing three 30 and the arm 35 pairs of a four bar joint 25 generates partial load torque.

固定系统II(参照图l)在结构上包括机械臂支撑平台10、压板11和第二压环12,所述机械臂支撑平台10设置在旋转支撑系统III的外环座5的下方,压板11设置在外环座5的上方,所述压板11通过螺钉44固定在机械臂支撑平台10的上表面上,压板11固定到机械臂支撑平台IO上即将旋转支撑系统III的外环座5压紧在机械臂支撑平台10上从而使其不能移动; 所述第二压环12的下端设有固定轴13,固定轴13插在支撑平台10上的孔内; Fixing system II (see FIG. L) comprises a robot arm support platform 10, the pressure plate 11 and the second pressure ring 12, the robot arm 10 is provided below the rotating platform support system III base 5 of the outer ring, the platen 11 in the structure an outer ring disposed above the base 5, the plate 11 is fixed by screws 44 to the upper surface of the support platform 10 of the robot arm, the platen 11 is fixed to the rotary support system is about to III of the robot arm 5 pressed against the outer annular base platform IO so that it can not move on the robot arm support platform 10; the lower end of the second pressure ring 12 is provided with a fixed shaft 13, fixed shaft 13 is inserted in the hole 10 on the support platform;

所述压板11可以是V型压板,也可以是半圆形压板,机械臂支撑轴承外环座5通过压板11和螺钉44固定在机械臂支撑平台10上,所述螺钉也可以是螺母和螺杆或其它可以将压板ll进行固定的方式。 The plate 11 may be V-shaped platen, the platen may be semi-circular, bearing outer ring robot arm 5 by the pressure plate housing 11 and the screw 44 is fixed to a robot arm support platform 10, the screw nut and the screw may be ll or other platen can be a fixed manner. 工作时,首先, 把机械臂支撑平台10通过螺钉固定在三坐标测量机I的大理石平台上,再通过压板将旋转支撑系统III的外环座5压紧在机械臂支撑平台10上从而使其不能移动,这样可以使空间机械臂VII在位姿精度测量过程中运行到固定位置时能够稳定住。 In operation, first, the robot arm 10 is bolted to the platform on the CMM I marble platform, and then the platen rotatably supported by an outer ring seat system III robot arm 5 is pressed against the support platform 10 so that it can not move, this can enable stabilize attitude accuracy during the reign of the measurement process to run space manipulator VII in a fixed position. 第二压环12由两个具有可拆结构连接的半环组成, 两个半环通过螺钉固定在空间机械臂VII的关节外壳四31上,第二压环12 的下部固定轴的轴端插在机械臂支撑平台10的孔中,防止关节四在旋转过程中引起气浮支撑系统IV的晃动。 The second pressure ring 12 by the two half-rings having a separable connection structure composed of two half-rings by means of screws to the joint shaft housing space manipulator 31 VII four, a second pressure lower fixing collar 12 of the plug robot arm in the hole in the platform 10, to prevent rattling caused by four joint IV of flotation support system during rotation. 从所述结构可以看出,固定系统II具有对空间机械臂VII固定的作用。 As can be seen from the structure, the fastening system II has a role of a fixed space manipulator VII.

末端耙标V和基座靶标VI由相互之间成一定角度的两根连杆和设置在连杆端头的金属球组成,各零件之间均是采用紧配合连接而成;末端靶标V和基座靶标VI分别固定在空间机械臂VII的两个端部并通过螺钉和法兰与机械臂连接。 And the base end of the rake subscript V VI from the target angle to each other between the two links and a metal ball provided compositions rod tip, between the parts are connected in a tight fit; end of the target and V base target VI are fixed at both ends VII space manipulator and is connected by screws with the robot arm and the flange. 所述基座靶标VI和末端靶标V的作用在于建立空间机械臂VII在位姿精度测量时的基座坐标系和末端坐标系。 The base end of the action target VI and V is to establish a target base coordinate system and terminal coordinate system when the bit accuracy of the measurement space manipulator pose VII.

上面各系统中,所述气浮支撑系统IV的第一压环3与固定系统II的第二压环12分别固定在位于空间机械臂VII中心位置两端的关节外壳上, 目的在于气浮系统与固定系统共同起到对空间机械臂VII的支撑作用。 Each of the above system, the second press ring IV flotation support system 3 first pressure ring 12 and the fixed system II at both ends are fixed to the central position of the robot arm VII joint housing space, and the object of the flotation system fixing system together play a supporting role in the space manipulator VII.

具体实施方式二:参照图l、图3、图4、图5,本实施方式所述旋转支撑系统III上的第二支架8与螺杆6之间设有调整螺栓14(参照图4),可以通过调整螺杆6、螺母7和螺栓14与第二支架8的相对位置来调整机械臂支撑轴4与关节四25的同轴度;所述配重块9通过螺纹固定到配重连接件15的一端,配重连接件15的另一端通过螺母7和螺杆6固定到第二支架8上,通过配重连接件15的连接,可以方便的将配重块9的上端进行固定。 DETAILED Embodiment 2: Referring to FIG. L, 3, 4, 5, the rotation of the second embodiment according to the present embodiment a support bracket is provided with System III adjusting screw 14 (see FIG. 4) between the screw 68 and may be 6, 7 and the bolt 14 and the nut relative position of the second robot arm holder 8 is adjusted by adjusting the screw of the support shaft 4 coaxially with four joints 25; and the counterweight 9 are connected by a threaded member secured to the counterweight 15 end, the other end of the weight member 15 is connected by a nut and the screw 7 fixed to the second bracket 86, through connecting member connecting the counterweight 15, the upper end 9 can easily be fixed to the counterweight.

具体实施方式三:参照图1、图3,本实施方式所述末端靶标V上的第一连杆16与空间机械臂VII的轴线一致,与空间机械臂VII轴线一致可以方便建立坐标系;第一连杆16上固定有另一根第二连杆17,第二连杆17与第一连杆16之间的夹角a为大于0度小于180度的角;在所述第一连杆16的两个端头及第二连杆17的一个端头上分别固定有一个金属球45, 金属球45的作用在于建立辅助测量坐标系;所述末端靶标V与空间机械臂VII之间通过法兰连接或直接通过螺钉连接。 DETAILED Embodiment 3: 1, with reference to FIG. 3, the present embodiment the first link 16 coincides with the axis of the space manipulator VII target terminal V, and VII space manipulator axes can be conveniently consistent coordinate system is established; first the other is fixed to the second link 17 is a link 16, the angle between the first link 17 and second link 16 a is greater than 0 degrees and less than 180 degrees; the first link two ends and a second link end 17 of the head 16 are fixed to a metal ball 45, the ball 45 acting metal is to establish the auxiliary measurement coordinate system; end of the target space V between the manipulator and VII by flange connection or direct connection by screws.

具体实施方式四:参照图l、图3,本实施方式所述基座靶标VI上的第三连杆18与空间机械臂VII的轴线一致,第三连杆18上固定有另一根第四连杆19,第四连杆19与第三连杆18之间的夹角P为大于0度小于180 度的角;在所述第三连杆18和第四连杆19的外端头上分别固定有一个金属球45;所述基座靶标VI与空间机械臂VII之间通过法兰连接或直接通过螺钉连接。 DETAILED DESCRIPTION IV: L Referring to FIG, 3, the third embodiment according to the present embodiment coincides with the axis of the connecting rod 18 on the space manipulator VII Vl base target, is fixed to the other of the fourth on the third link 18 link 19, the angle between the fourth link 19 and third link 18 P is greater than 0 degrees to less than 180 degrees; the head of the outer end of the third link 18 and fourth link 19 are respectively fixed to a metal ball 45; or directly by a screw connection between the base and the target VI VII space manipulator through the flange.

具体实施方式五:参照图6、图7、图8,本实施方式详细阐述气浮支撑系统IV的第一压环3、气浮轴承1与第一支架2的连接方式。 Five DETAILED DESCRIPTION: Referring to FIG. 6, FIG. 7, FIG. 8, the present embodiment described in detail IV flotation support system of a first pressure ring 3, an air bearing connection to the first bracket 2. 所述两个 The two

气浮轴承1通过螺纹安装到第一支架2上,再通过锁紧螺母38锁紧。 An air bearing mounted on the first support 2 by screwing, by a lock nut 38 and tighten. 所述第一半个压环3-1通过螺钉41固定到第一支架2上,第二半个压环3-2的一端通过销轴43与第一支架2铰接,另一端与第一支架2之间通过活节39 和螺母42进行连接和固定,所述活节39通过销轴40安装在第一支架2上, 活节39可以绕销轴40旋转。 3-1 the first half of the pressure ring 41 is fixed by screws to the first bracket 2, one end of the second half of the pressure ring 32 by a pin 43 of the first bracket 2 is hinged, the other end of the first bracket 2 between the joint 39 and by connecting and fixing nut 42, the joint 39 by a pin 40 mounted on the first bracket 2, the joint 39 can rotate about the pin 40 rotates. 将气浮支撑系统IV与空间机械臂VII进行固定时,首先将第二半个压环3-2绕绡轴43向外旋转,将空间机械臂VII的关节外壳二29自上至下放在第一支架2的U形槽中,然后将第二半个压环3-2绕绡轴43旋回,通过螺母42和活节39锁紧。 When the flotation support system manipulator IV and VII space is fixed, the first half of the second pressure ring 32 about the shaft 43 rotate outward raw silk, the joint housing space manipulator VII from the secondary to the lower 29 on the first a U-shaped groove of the holder 2, and then the second half of the pressure ring 43 cycles raw silk 3-2 about the shaft, the lock nut 42 and through the joint 39.

具体实施方式六:本实施方式为利用本发明所述测试系统对空间机械臂的位姿精度进行测量的具体方法。 DETAILED DESCRIPTION VI: This embodiment is a specific method using the test system of the present invention is the accuracy of the pose of the manipulator measuring space.

空间机械臂VII位姿精度的测量可以通过由基座靶标VI和末端靶标V 建立的末端坐标系108和基坐标系109来测量,在测量过程中,通过三坐标测量机I测得末端坐标系109在基坐坐标系108中的位姿来得到。 VII measuring space manipulator pose accuracy of the base coordinate system 108 can be measured by 109 and established by the base end of the target and the target VI V terminal coordinate system during the measurement, measured by the end of Coordinate Measuring Machine Coordinate System I 109 sit in the base coordinate system of the position and orientation 108 is obtained. 基坐标系109和末端坐标系108的建立方法如下。 109 base coordinate system and method for establishing the distal frame 108 as follows.

空间机械臂测量坐标系建立方法如图9所示: Space manipulator measurement coordinate system established method shown in Figure 9:

(1) 基坐标系109 0。 (1) 1090 base coordinate system. X/。 X /. Z。 Z. 的建立: Establishment:

1) Z。 1) Z. 轴由过金属球45-l的球心,且与关节外壳一的圆柱面28-l的轴线垂直相交的直线来确定,交点为O。 A metal ball over the shaft 45-l of the center of the sphere, and the joint housing with a vertical axis 28-l of a line intersecting the cylindrical surface is determined, the intersection is O. ,方向为由金属球45-l的球心指向交点0。 Direction by the metal ball 45-l spherical center of the intersection point 0. ;

2) r。 2) r. 轴由过金属球45-2的球心且与Z。 Z. axis and the center of the sphere of the metal balls through 45-2 轴垂直相交的直线来确定,交点为45-3;方向为由交点45-3指向金属球45-2的球心; Axis perpendicularly intersecting straight line is determined, as the intersection 45-3; 45-3 direction by an intersection point metal ball sphere center 45-2;

3) X。 3) X. 轴由右手定则确定; Axis is determined by the right hand rule;

4) 坐标系原点为O。 4) the origin of the coordinate system is O. .

(2) 末端坐标系108 0JA4的建立: (2) the distal frame 108 0JA4 established:

1) 26轴由过金属球45-7的球心和金属球45-5的球心的直线来确定, 1) axis 26 is determined by a straight line through the center of the sphere core and a metal ball of metal balls 45-5 to 45-7,

方向为由金属球45-7的球心指向金属球45-5的球心; Direction by the spherical center point metal balls 45-7 45-5 sphere center of the metal ball;

2) K轴由过金属球45-4的球心且与^轴垂直相交的直线来确定,交点 2) K is determined by the shaft and through the center of the sphere metal balls 45-4 ^ straight line perpendicular to the axis, the intersection point

为45-6;方向为由交点45-6指向金属球45-4的球心; To 45-6; 45-6 direction by an intersection point metal ball sphere center 45-4;

3) ^轴由右手定则确定; 3) ^ is determined by the right-hand shaft;

4) 坐标系原点为金属球45-5的球心<96。 4) coordinate system origin spherical center metal balls 45-5 <96.

Claims (5)

1.一种空间机械臂位姿精度测试系统,它包括三坐标测量机(I),其特征在于它还包括设置在三坐标测量机(I)的上方、与空间机械臂(VII)连接的固定系统(II)、旋转支撑系统(III)、气浮支撑系统(IV)、末端靶标(V)和基座靶标(VI); 所述各系统的具体结构为: 气浮支撑系统(IV)在结构上包括气浮轴承(1)、与气浮轴承(1)固定的带U形槽的第一支架(2)和设置在支架U形槽上端的第一压环(3); 旋转支撑系统(III)在结构上包括支撑轴(4)和设置在支撑轴(4)外表面的外环座(5),外环座(5)与支撑轴(4)之间通过轴承连接,在支撑轴(4)的端部设有与其螺纹连接的螺杆(6),螺杆(6)的端头通过螺母(7)固定在第二支架(8)上;在所述螺杆(6)的下方设有配重块(9); 固定系统(II)在结构上包括机械臂支撑平台(10)、压板(11)和第二压环(12),所述机械臂支撑平台(10)设置在旋转支撑系统(III)的外环座(5) 1. A spatial manipulator pose accuracy test system, comprising a coordinate measuring machine (I), characterized in that it comprises the above coordinate measuring machine (I) is connected to the space manipulator (VII), fixing system (II), the rotation support system (III), flotation support system (IV), the target terminal (V) and a base target (Vl); the specific configuration of each system is: flotation support system (IV) including air bearing (1) with the airfoil bearing (1) a first fixing bracket with U-shaped grooves (2) and provided at the upper end of the U-shaped groove of the first stent clamping ring (3) on the structure; rotation support system (III) comprises a support structure on a shaft (4) and provided on the support shaft (4) an outer ring seat (5) an outer surface, connected by a bearing between the outer seat (5) and the support shaft (4), in the end portion of the support shaft (4) is provided with a screw (6) screwed thereto, the screw (6) of the end by a nut (7) fixed to the second bracket (8); beneath said screw (6) provided with a weight block (9); fixing system (II) comprises a robotic arm supporting platform (10), the platen (11) and a second pressure ring (12), the robot arm is supported on a platform structure (10) disposed rotary support system (III), an outer ring seat (5) 的下方,所述压板(11)设置在外环座(5)的上方,所述压板(11)通过螺钉(44)固定在机械臂支撑平台(10)的上表面上;所述第二压环(12)的下端设有固定轴(13),固定轴(13)插在支撑平台(10)上的孔内; 末端靶标(V)和基座靶标(VI)由相互之间成一定角度的两根连杆和设置在连杆端头的金属球组成; 所述各系统的连接关系为:气浮支撑系统(IV)的第一压环(3)与固定系统(II)的第二压环(12)分别固定在位于空间机械臂(VII)中心位置两端的关节外壳上;所述旋转支撑系统(III)上支撑轴(4)的一端安装到空间机械臂(VII)的关节外壳上,旋转支撑系统(III)上的第二支架(8)固定在空间机械臂(VII)的臂杆上;所述末端靶标(V)和基座靶标(VI)分别固定在空间机械臂(VII)的两个端部。 Below, the pressure plate (11) disposed above the outer seat (5), said plate (11) (44) fixed to the upper surface of the robot arm supporting the platform (10) by a screw; a second pressure lower ring (12) is provided with a fixed shaft (13), the fixed shaft (13) inserted in the support platform (10) of the bore; end of the target (V) and a base target (VI) by a certain angle to each other between two links disposed on the metal ball and rod tip composition; connection relationship of the various systems are: flotation support system (IV) a first pressure ring (3) and the fixed system (II) a second pressure rings (12) are fixed to the casing at both ends of the joint center (VII) located space manipulator; end of the rotary support system (III) the support shaft (4) mounted on the robot arm into the space (VII) of the joint housing a second bracket (8) on the rotation support system (III) is fixed in space manipulator (VII), an arm rod; end of the target (V) and a base target (VI) are fixed in space manipulator ( VII) two end portions.
2. 根据权利要求1所述的空间机械臂位姿精度测试系统,其特征在于所述旋转支撑系统(III)上的第二支架(8)与螺杆(6)之间设有调整螺栓(14);所述配重块(9)通过螺纹固定到配重连接件(15)的一端,配重连接件(15)的另一端通过螺母(7)和螺杆(6)固定到第二支架(8)上。 The space manipulator pose accuracy of the test system as claimed in claim 1, characterized in that the adjusting screw is provided (between the second holder 14 (8) and the screw (6) on the rotary support system (III) ); a counterweight (9) is fixed by screwing to an end of the counterweight connecting member (15) and the other end connected to the counterweight member (15) by a nut (7) and the screw (6) is fixed to the second bracket ( 8) on.
3. 根据权利要求1所述的空间机械臂位姿精度测试系统,其特征在于所述末端靶标(V)上的第一连杆(16)与空间机械臂(VII)的轴线一致,第一连杆(16)上固定有另一根第二连杆(17),第二连杆(17)与第一连杆(16)之间的夹角a为大于0度小于180度的角;在所述第一连杆(16)的两个端头及第二连杆(17)的一个端头上分别固定有一个金属球(45);所述末端靶标(V)与空间机械臂(VII)之间通过螺钉连接。 The space manipulator pose accuracy of the test system as claimed in claim 1, characterized in that the first link coincides with the axis (16) on the end of the target (V) with a space manipulator (VII), the first fixed upper link (16) an angle less than 180 degrees the other second link (17), the angle between (17) the first link (16) a second link is greater than 0 degrees; the first link (16) and two second link ends (17) of the head are respectively fixed to one end of a metal ball (45); the end of the target (V) with a space arm ( by a screw connection between VII).
4. 根据权利要求1所述的空间机械臂位姿精度测试系统,其特征在于所述基座靶标(VI)上的第三连杆(18)与空间机械臂(VII)的轴线一致,第三连杆(18)上固定有另一根第四连杆(19),第四连杆(19)与第三连杆(18)之间的夹角P为大于O度小于180度的角;在所述第三连杆(18)和第四连杆(19)的外端头上分别固定有一个金属球(45);所述基座靶标(VI)与空间机械臂(VII) 之间通过螺钉连接。 The space manipulator pose accuracy of the test system as claimed in claim 1, characterized in that coincides with the axis of the third link (18) on said target base (VI) with a space manipulator (VII), the first is fixed on a three link (18) the other of the fourth link (19), the angle between the fourth link (19) and the third link (18) is greater than P O angle of less than 180 degrees ; the third link (18) and the fourth link (19) are respectively fixed to the outer end of the head has a metal ball (45); the base target (VI) with a space manipulator (VII) of inter-connected by a screw.
5. 根据权利要求1所述的空间机械臂位姿精度测试系统,其特征在于所述气浮支撑系统(IV)上的气浮轴承(1)为两个,分别固定在第一支架(2)的两侧,所述第一压环(3)是通过可拆连接的第一半个压环(3-1)和第二半个压环(3-2)组合而成。 The space manipulator pose accuracy of the test system as claimed in claim 1, characterized in that on the air-bearing support flotation system (IV) (1) is two, are secured to the first bracket (2 ) on both sides, the first half of the compression ring (3-1) and the second half of the compression ring (3-2) of the first pressure ring (3) is connected by releasable combination.
CN 200610009822 2006-03-17 2006-03-17 Precisive determining system of mechanical arm location and gesture in space CN100363707C (en)

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