CN104057467B - Based on the air-bearing formula mechanical arm gravity-compensated device of ring-type air floating platform - Google Patents
Based on the air-bearing formula mechanical arm gravity-compensated device of ring-type air floating platform Download PDFInfo
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- CN104057467B CN104057467B CN201410264736.XA CN201410264736A CN104057467B CN 104057467 B CN104057467 B CN 104057467B CN 201410264736 A CN201410264736 A CN 201410264736A CN 104057467 B CN104057467 B CN 104057467B
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Abstract
Based on the air-bearing formula mechanical arm gravity-compensated device of ring-type air floating platform, it relates to a kind of mechanical arm gravity-compensated device, is specifically related to a kind of air-bearing formula mechanical arm gravity-compensated device based on ring-type air floating platform.The present invention is in order to solve the problem of the gravity compensation system not having a kind of multi-joint space manipulator for mechanism's complexity at present.The present invention includes fixing hitch, main revoliving arm air floating platform follows the tracks of hitch and secondary revoliving arm follows the tracks of hitch, fixing hitch and main revoliving arm air floating platform are followed the tracks of hitch and are arranged on steelframe, and one end of secondary revoliving arm tracking hitch is followed the tracks of hitch with main revoliving arm air floating platform and is connected.The present invention is used in space manipulator ground simulating.
Description
Technical field
The present invention relates to a kind of mechanical arm gravity-compensated device, be specifically related to a kind of air-bearing formula mechanical arm gravity-compensated device based on ring-type air floating platform.
Background technology
Space manipulator is in ground experiment, if do not carry out gravity compensation, the effect of gravity will produce larger force and moment at each joint part, drive motors can be caused to run well, even damage mechanical arm.Therefore, need triturating machine mechanical arm gravity compensation system, the object of gravity compensation is will the zero-g environment of virtual space on the ground, to realize the control to space manipulator, carries out manipulator motion simulated test in space environment.At present, the gravity compensation system abroad developed is varied, is divided into by implementation: free fall type, floated, pneumatic tyre type, mechanical suspension formula.But the domestic gravity compensation system that there is no the multi-joint space manipulator for mechanism's complexity and develop, carry out the experimental study of space manipulator, need in conjunction with the suitable gravity compensation system of the mechanical development of mechanical arm.The invention of problems is not also solved in prior art.
Summary of the invention
The present invention solves the problem not having a kind of gravity compensation system of the multi-joint space manipulator for mechanism's complexity at present, and then proposes the air-bearing formula mechanical arm gravity-compensated device based on ring-type air floating platform.
The present invention is the technical scheme taked that solves the problem: the present invention includes fixing hitch, main revoliving arm air floating platform follows the tracks of hitch and secondary revoliving arm follows the tracks of hitch, fixing hitch and main revoliving arm air floating platform are followed the tracks of hitch and are arranged on steelframe, and one end of secondary revoliving arm tracking hitch is followed the tracks of hitch with main revoliving arm air floating platform and is connected.
The invention has the beneficial effects as follows: the present invention can solve the gravity compensation problem of space manipulator, for space manipulator provides gravity compensation at ground experiment, structure is simple, should be readily appreciated that and realize.The mode of operation of mechanical arm gravity compensation system is that mechanical arm root fixes expansion pattern.Root is fixed expansion pattern and is referred to that mechanical arm and satellite body carry out functional verification experiment and accuracy test is tested after fixing, mechanism is when root fixed mode carries out functional verification experiment, can the independently moving in each joint of manipulator subsystem, implementation space, meet the movement needs in the polarizers of big angle scope of each joint.Design based on the air-bearing formula mechanical arm gravity compensation of ring-type air floating platform adopts passive trailing type tracking mode.Based on the air-bearing formula mechanical arm gravity compensation of ring-type air floating platform, owing to have employed air floating platform, that gravity-compensated device armed lever is turned round is little, drives the moment of resistance little; Air-bearing formula mechanical arm gravity compensation based on ring-type air floating platform is little to mechanical arm deformation effect, simulation precision advantages of higher.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 illustrates present embodiment, comprise fixing hitch 1 based on the air-bearing formula mechanical arm gravity-compensated device of ring-type air floating platform described in present embodiment, main revoliving arm air floating platform follows the tracks of hitch 2 and secondary revoliving arm follows the tracks of hitch 3, fixing hitch 1 and main revoliving arm air floating platform are followed the tracks of hitch 2 and are arranged on steelframe, and one end of secondary revoliving arm tracking hitch 3 is followed the tracks of hitch 2 with main revoliving arm air floating platform and is connected.
Detailed description of the invention two: composition graphs 1 illustrates present embodiment, the fixing hitch 1 of the air-bearing formula mechanical arm gravity-compensated device based on ring-type air floating platform described in present embodiment comprises the first bar 1-1, the first suspension plate 1-2 and clutch shaft bearing, the upper end of the first suspension plate 1-2 is connected with the middle part of the first bar 1-1, and the first suspension plate 1-2 lower end is connected with the first mechanical armed lever 4-1 of mechanical arm 4 by clutch shaft bearing.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 1 illustrates present embodiment, follow the tracks of hitch 2 based on the main revoliving arm air floating platform of the air-bearing formula mechanical arm gravity-compensated device of ring-type air floating platform described in present embodiment and comprise the second bar 2-1, first cradle head 2-2, main revoliving arm 2-3, air floating platform 2-4, 3rd bar 2-5, second cradle head 2-6, second suspension plate 2-7 and the second bearing 2-8, one end of air floating platform 2-4 is connected with one end of the first bar 1-1, the other end of air floating platform 2-4 is connected with the upper end of the 3rd bar 2-5, the upper end of the second bar 2-1 is connected with air floating platform 2-4, the lower end of the second bar 2-1 is connected with one end of main revoliving arm 2-3 by the first cradle head 2-2, the other end of main revoliving arm 2-3 is connected with the 3rd bar 2-5 by the second cradle head 2-6, lower end and the secondary revoliving arm of the 3rd bar 2-5 are followed the tracks of hitch 3 and are connected, secondary revoliving arm is followed the tracks of hitch 3 and is connected with the second mechanical armed lever 4-2 of mechanical arm 4 by the second bearing 2-8 by the second suspension plate 2-7.Other composition and annexation identical with detailed description of the invention one or two.
Detailed description of the invention four: composition graphs 1 illustrates present embodiment, follow the tracks of hitch 3 based on the secondary revoliving arm of the air-bearing formula mechanical arm gravity-compensated device of ring-type air floating platform described in present embodiment and comprise large revoliving arm 3-1, 3rd cradle head 3-2, little revoliving arm 3-3, 3rd suspension plate 3-4 and the 3rd bearing 3-5, one end of large revoliving arm 3-1 is connected with the lower end of the 3rd bar 2-5, the other end of large revoliving arm 3-1 is connected with little revoliving arm 3-3 by the 3rd cradle head 3-2, little revoliving arm 3-3 is connected with the upper end of the 3rd suspension plate 3-4, the lower end of the 3rd suspension plate 3-4 is connected with mechanical arm 4 by the 3rd bearing 3-5.Other composition and annexation identical with detailed description of the invention three.
Operation principle
When the bar of mechanical arm is along articulation 90 °, the bar position of mechanical arm does not change, and the first suspension plate 1-2 is vertical all the time, and the first suspension plate 1-2 maintains static and just can realize zero-g compensation; When joint of mechanical arm rotates, main revoliving arm 2-3 rotates, and drives the 3rd bar 2-5 to rotate on air floating platform, and then drives large revoliving arm 3-1 and little revoliving arm 3-3 to carry out passive tracking, keep vertical to realize the second suspension plate 2-7 with the 3rd suspension plate 3-4, carry out zero-g compensation; When joint of mechanical arm rotates, large revoliving arm carries out the rotation of rotating synchronous passive tracking joint, realizes the second suspension plate 2-7 and keeps vertical with the 3rd suspension plate 3-4, carry out zero-g compensation; During articulation, the hanging position of suspension strop does not change, and zero-g bucking-out system need not be rotated and just can be kept the vertical of a suspension strop, realizes zero-g and compensates; When joint of mechanical arm rotates, little revoliving arm passive tracking joint is rotated, and the 3rd suspension plate 3-4 keeps vertical, carries out zero-g compensation; The rotation of joint of mechanical arm compensates not impact to zero-g.
Claims (2)
1. based on the air-bearing formula mechanical arm gravity-compensated device of ring-type air floating platform, it comprises fixing hitch (1), main revoliving arm air floating platform follows the tracks of hitch (2) and secondary revoliving arm follows the tracks of hitch (3), fixing hitch (1) and main revoliving arm air floating platform are followed the tracks of hitch (2) and are arranged on steelframe, one end that secondary revoliving arm follows the tracks of hitch (3) is followed the tracks of hitch (2) with main revoliving arm air floating platform and is connected, fixing hitch (1) comprises the first bar (1-1), first suspension plate (1-2) and clutch shaft bearing, the upper end of the first suspension plate (1-2) is connected with the middle part of the first bar (1-1), first suspension plate (1-2) lower end is connected with the first mechanical armed lever (4-1) of mechanical arm (4) by clutch shaft bearing, it is characterized in that: main revoliving arm air floating platform is followed the tracks of hitch (2) and comprised the second bar (2-1), first cradle head (2-2), main revoliving arm (2-3), air floating platform (2-4), 3rd bar (2-5), second cradle head (2-6), second suspension plate (2-7) and the second bearing (2-8), one end of air floating platform (2-4) is connected with one end of the first bar (1-1), the other end of air floating platform (2-4) is connected with the upper end of the 3rd bar (2-5), the upper end of the second bar (2-1) is connected with air floating platform (2-4), the lower end of the second bar (2-1) is connected with one end of main revoliving arm (2-3) by the first cradle head (2-2), the other end of main revoliving arm (2-3) is connected with the 3rd bar (2-5) by the second cradle head (2-6), lower end and the secondary revoliving arm of the 3rd bar (2-5) are followed the tracks of hitch (3) and are connected, secondary revoliving arm is followed the tracks of hitch (3) and is connected with the second mechanical armed lever (4-2) of mechanical arm (4) with the second bearing (2-8) by the second suspension plate (2-7).
2. according to claim 1 based on the air-bearing formula mechanical arm gravity-compensated device of ring-type air floating platform, it is characterized in that: secondary revoliving arm is followed the tracks of hitch (3) and comprised large revoliving arm (3-1), 3rd cradle head (3-2), little revoliving arm (3-3), 3rd suspension plate (3-4) and the 3rd bearing (3-5), one end of large revoliving arm (3-1) is connected with the lower end of the 3rd bar (2-5), the other end of large revoliving arm (3-1) is connected with little revoliving arm (3-3) by the 3rd cradle head (3-2), little revoliving arm (3-3) is connected with the upper end of the 3rd suspension plate (3-4), the lower end of the 3rd suspension plate (3-4) is connected with mechanical arm (4) by the 3rd bearing (3-5).
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| CN201410264736.XA CN104057467B (en) | 2014-06-13 | 2014-06-13 | Based on the air-bearing formula mechanical arm gravity-compensated device of ring-type air floating platform |
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| CN201410264736.XA CN104057467B (en) | 2014-06-13 | 2014-06-13 | Based on the air-bearing formula mechanical arm gravity-compensated device of ring-type air floating platform |
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| CN104057467B true CN104057467B (en) | 2016-01-20 |
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| CN104318828B (en) * | 2014-10-10 | 2016-08-24 | 北京卫星制造厂 | A kind of zero gravity experimental system for Spatial Multi-Dimensional development mechanism |
| CN104787363B (en) * | 2015-05-06 | 2016-08-24 | 中国科学院沈阳自动化研究所 | A kind of satellite ground microgravity dynamic load simulation mechanism |
| CN104908981B (en) * | 2015-07-13 | 2017-03-15 | 哈尔滨工业大学 | The vertical atmospheric pressure compensated equipment of multiple degrees of freedom air floating platform and vertical atmospheric pressure compensating method |
| CN105151331A (en) * | 2015-08-06 | 2015-12-16 | 杨海林 | Zero gravity simulation system and using method thereof |
| CN105336251A (en) * | 2015-12-08 | 2016-02-17 | 天津航天机电设备研究所 | Auto-adaptive suspension mechanism |
| CN106564630B (en) * | 2016-11-09 | 2019-09-17 | 上海卫星工程研究所 | A kind of gravitational equilibrium and servomechanism for the expansion of large-scale parabolic-cylinder antenna |
| CN110404157A (en) * | 2019-08-03 | 2019-11-05 | 安徽工程大学 | A kind of robot sinusoidal elastic force amplifying moment compensation device and method |
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| DE3931753A1 (en) * | 1989-09-22 | 1991-04-04 | Deutsche Forsch Luft Raumfahrt | DEVICE FOR SIMULATING ON THE EARTH OF OPERATIONS OF A MANIPULATOR USED IN SPACE ON A MODEL OF A SPACE VEHICLE |
| CN201511364U (en) * | 2009-09-16 | 2010-06-23 | 重庆延锋江森座椅有限公司 | Pneumatic balance assisted manipulator |
| CN101863038B (en) * | 2010-05-28 | 2011-09-14 | 清华大学 | Air flotation teleoperation platform based on binocular vision |
| CH706455A2 (en) * | 2012-04-30 | 2013-10-31 | Trimos S A | articulated mechanical arm equipped with a passive device of the gravity compensation. |
| CN202807110U (en) * | 2012-08-14 | 2013-03-20 | 淮安中科科创精密机械科技有限公司 | Gas floating six-degree-of-freedom simulation satellite device of semi-active type gravity compensation structure |
| CN103144104A (en) * | 2013-03-04 | 2013-06-12 | 北京邮电大学 | 7-DOF (degree of freedom) space manipulator ground microgravity hybrid simulation method |
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