CN104325460A - Method for simulating micro-gravity by multi-joint spatial mechanical arm - Google Patents
Method for simulating micro-gravity by multi-joint spatial mechanical arm Download PDFInfo
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- CN104325460A CN104325460A CN201410546411.0A CN201410546411A CN104325460A CN 104325460 A CN104325460 A CN 104325460A CN 201410546411 A CN201410546411 A CN 201410546411A CN 104325460 A CN104325460 A CN 104325460A
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Abstract
The invention provides a method for simulating micro-gravity by a multi-joint spatial mechanical arm. The method comprises a pose detecting link, a follow-up tracking link and a gravity compensating link. Through the pose detecting link, the follow-up tracking link and the gravity compensating link, a test space for the micro-gravity by the multi-joint spatial mechanical arm is simulated, yaw motion and pitching motion of the spatial mechanical arm are tracked through the rotary motion and the linear motion of a follow-up tracking system, a gravity compensating system provides active gravity compensation for the motion of the spatial mechanical arm, resultant force acting on the spatial mechanical arm in the action process is a fixed value, and various mechanical parameters of the spatial mechanical arm in the test space are consistent with mechanical parameters of the spatial mechanical arm in outer space.
Description
Technical field
The invention belongs to space technology field, especially relate to the method for zero-g in a kind of simulation space.
Background technology
In order to make spacecraft safety in orbit, need before Spacecraft Launch, on ground, a large amount of verification experimental verifications is carried out to each assembly of spacecraft, thus ensure the reliable and use safety of spacecraft.Wherein in the hardware of composition spacecraft, there is a kind of hardware of multi-joint space manipulator, this hardware in orbit time, complete a large amount of space tasks, so this kind of hardware will carry out the test of a large amount of simulation space running environment at ground-mounted and test phase, this just proposes very large challenge to ground test, not only want the working environment of micro-low gravitation in simulation space, and different operating modes will be adapted to, and adapt to spacecraft attitude change and the load change of certain limit, can not interfere with miscellaneous equipment simultaneously, the space of miscellaneous equipment can not be affected, disturb the normal work of other equipment.
Summary of the invention
The problem to be solved in the present invention is to provide a kind of micro-low-gravity simulation method of multi-joint space manipulator, not only can provide the experimental enviroment of micro-low gravitation for multi-joint space manipulator, and can ensure that each mechanics parameter of multi-joint space manipulator in experimental enviroment is consistent with its each mechanics parameter in space.
For solving the problems of the technologies described above, the technical solution used in the present invention is: the micro-low-gravity simulation method of multi-joint space manipulator, comprises pose and measures link, servo follow-up tracing link and gravity compensation link:
Pose measures link: adopt high precision position measuring transducer to follow the tracks of the armed lever position of multi-joint space manipulator, and position and the attitude of multi-joint space manipulator is resolved by spatial algorithm principle, then, solve the tracing deviation amount between servo follow-up tracing system and space manipulator, afterwards tracing deviation amount is input in controller;
Servo follow-up tracing link: controller controls servo follow-up tracing system according to the tracing deviation amount received and does servo follow-up tracing motion, eliminates tracing deviation amount;
Gravity compensation link: controller, while control servo follow-up tracing system motion, carries out active gravity compensation according to the gravity compensation system of the gesture stability of multi-joint space manipulator on gravity direction above it to it;
Repeat described three links, maintain space manipulator suffered making a concerted effort for definite value in motion process.
Wherein, pose measures in link, high precision position measuring transducer is arranged on the joint of multi-joint space manipulator.
Wherein, in servo follow-up tracing link, servo follow-up tracing motion comprises gyration and rectilinear motion, and gyration is used for the servo follow-up tracing to space manipulator yaw maneuver, and its rotation by servo follow-up tracing system realizes; Rectilinear motion is used for the servo follow-up tracing to space manipulator pitching motion, and servo follow-up tracing system is provided with two line slideways be parallel to each other, and two cover gravity compensation systems realize rectilinear motion along described line slideway.
Further, servo follow-up tracing Operation system setting has two trackers, and two trackers respectively connect a set of gravity compensation system, by resolving the position relationship of tracker and the high precision position measuring transducer below it, calculate tracing deviation amount.
Further, if the coordinate of tracker A is O
4x
4y
4z
4, the coordinate of tracker B is O
3x
3y
3z
3, the coordinate of the joint A of space manipulator is OXYZ, and the coordinate of joint B is O
1x
1y
1z
1, the coordinate of joint C is O
2x
2y
2z
2: the gravity compensation system at tracker A place connects joint B and provides a tensile force f upwards
1; The gravity compensation system at tracker B place connects joint C and provides a tensile force f upwards
2, F
2to the coordinate O of joint B
1x
1y
1z
1power taking square M
2,described F
1with F
2the coordinate OXYZ power taking square M to joint A (12) of making a concerted effort
1; In space manipulator motion process, detected the position of each coordinate by high precision position measuring transducer and tracker A, B, and resolve O
4x
4y
4z
4and O
1x
1y
1z
1, O
3x
3y
3z
3and O
2x
2y
2z
2between tracing deviation amount, tracing deviation amount is passed in controller, controls servo follow-up tracing system and gravity compensation system by controller, keep M
1, M
2value constant.
Wherein, gravity compensation system is made up of CD-ROM drive motor, tensile machine, suspension apparatus, associated actuator and support component, and be furnished with the liaison that industrial computer is used between each system, wherein, suspension apparatus comprises rope, dodges hanging stick, special rotating mechanism and pulling force sensor, the upper end of suspension apparatus is connected with tensile machine by rope, and its lower end is connected with special rotating mechanism, and special rotating mechanism is installed on the robotic arm.
Further, in gravity compensation link, the pulling force numerical value that gravity compensation system utilizes the pulling force sensor on it to record, and the adjustment feeding back to that tensile machine carries out pulling force, ensure Joint Manipulator gravity direction to make a concerted effort be zero.
Wherein, the gravity compensation point of gravity compensation system on Joint Manipulator adopts single-point and two point to cross barycenter to suspend the mode combined in midair.
The advantage that the present invention has and good effect are: measure link by pose, servo follow-up tracing link and gravity compensation link, achieve the simulation of micro-low gravitation test space of multi-joint space manipulator, the tracking of yawing rotation to space manipulator and elevating movement is achieved by the gyration of servo follow-up tracing system and rectilinear motion, gravity compensation system is then for the motion of space manipulator provides initiatively gravity compensation, ensure that the definite value with joint efforts for needing that space manipulator is subject in course of action, and each mechanics parameter of meeting spatial mechanical arm in test space is consistent with its mechanics parameter in space.
Accompanying drawing explanation
Fig. 1 is the structural representation of multi-joint space manipulator
Fig. 2 is operation principle schematic diagram of the present invention
Fig. 3 is the coordinate schematic diagram of each test point in the present invention
In figure: 11-pedestal, 12-joint A, 13-joint B, 14-armed lever A, 15-joint C, 16-armed lever B;
1-servo follow-up tracing system, 2-gravity compensation system, 3-tracker A, 4-tracker B
Detailed description of the invention
Below in conjunction with accompanying drawing, specific embodiments of the invention are elaborated.
Articulated type space manipulator comprises pedestal 11, joint A12, joint B13, armed lever A14, joint C15 and the armed lever B16 that order connects, and articulated type space manipulator realizes yawing rotation and elevating movement by joint A, B.
This multi-joint space manipulator micro-low-gravity simulation method realizes under micro-low gravitation bucking-out system, micro-low gravitation bucking-out system comprise bracing frame, can the servo follow-up tracing system of rotation, suspension apparatus and control system, tracing compensation system is installed on the top of bracing frame, the upper end of suspension apparatus is connected to the bottom of tracing compensation system and can does rectilinear motion relative to the latter, the lower end junctor mechanical arm of suspension apparatus, controller is electrically connected with servo follow-up tracing system and suspension apparatus respectively, and the top of suspension apparatus is connected with gravity compensation system.
The micro-low-gravity simulation method of multi-joint space manipulator, comprises pose and measures link, servo follow-up tracing link and gravity compensation link:
Pose measures: adopt high precision position measuring transducer to follow the tracks of the armed lever position of multi-joint space manipulator, then, position and the attitude of multi-joint space manipulator is resolved by spatial algorithm principle, and the tracing deviation amount solved between servo follow-up tracing system 1 and space manipulator, afterwards tracing deviation amount is input in controller;
Servo follow-up tracing: controller controls servo follow-up tracing system 1 according to the tracing deviation amount received and does servo follow-up tracing motion, eliminates tracing deviation;
Gravity compensation: controller, while control servo follow-up tracing system 1 is moved, carries out active gravity compensation according to the gravity compensation system 2 of the gesture stability of multi-joint space manipulator on gravity direction above it to it;
Repeat described three links, maintain space manipulator suffered making a concerted effort for a required definite value in motion process.
In order to follow the tracks of the armed lever position of multi-joint space manipulator more accurately, pose measures the joint in link, high precision position measuring transducer being arranged on multi-joint space manipulator.
Controller realizes the Automated condtrol in this analogy method, after receiving tracing deviation amount, sends control signal, controls servo follow-up tracing system 1 and gravity compensation system 2 action, eliminates tracing deviation and provides initiatively gravity compensation for multi-joint space manipulator.
In servo follow-up tracing link, servo follow-up tracing motion comprises gyration and rectilinear motion, and gyration is used for the servo follow-up tracing to space manipulator yaw maneuver, and its rotation by servo follow-up tracing system realizes; Rectilinear motion is used for the servo follow-up tracing to space manipulator pitching motion, and servo follow-up tracing system 1 installs two line slideways be parallel to each other, and two cover gravity compensation systems 2 realize rectilinear motion along described line slideway.
In order to realize on a large scale, quick, high-precision tracking, simultaneously in conjunction with the kinetic characteristic of multi-joint space manipulator, servo follow-up tracing system 1 is provided with two trackers, two trackers respectively connect a gravity compensation system 2, by resolving the position relationship of tracker and the high precision position measuring transducer below it, calculate tracing deviation amount.
Gravity compensation system 2 is made up of CD-ROM drive motor, tensile machine, suspension apparatus, associated actuator and support component, and is furnished with the liaison that industrial computer is used between each system.Wherein, suspension apparatus mainly comprises rope, dodges hanging stick, special rotating mechanism and pulling force sensor, and the upper end of suspension apparatus is connected with tensile machine by rope, and its lower end is connected with special rotating mechanism, and special rotating mechanism is installed on the robotic arm.Special rotating mechanism adopts the principle of articulated cross shaft, can realize rotating around X-axis and Y-axis, namely can realize around space manipulator axis and radial rotating, guarantees suspension centre power all the time by the intersection point of space manipulator axis and suspension apparatus.Special rotating mechanism adopts fractionation form, so that mechanical arm connects, wherein the inner ring of special rotating mechanism is connected with mechanical arm, and suspension apparatus is lifted on special rotating mechanism side hanging axis place.
Gravity compensation system 2 initiatively carries out pulling force control to suspension apparatus in running, the pulling force of suspension apparatus is met the demands all the time, and keep the vertical tension of suspension cable, its tie point on space manipulator is joint B, C (13,15) place.Which utilizes to be positioned at pulling force numerical value that the pulling force sensor on rope records as feedback, and utilize the tensile machine of the compositions such as coaxially arranged motor to carry out the adjustment of rope tension, ensures that the pulling force that suspension cable provides meets the demands all the time.In multi-joint space manipulator motion process, there is the interference situation of suspension apparatus and mechanical arm simultaneously, meet the simulation of mechanical arm overall process motion, and produce as far as possible little additional force (moment), ensure compensation precision, the gravity compensation point of gravity compensation system on Joint Manipulator adopts single-point and two point to cross barycenter suspend the mode combined, and namely two cover gravity compensation systems adopt single-point to cross barycenter and two point to cross barycenter and suspend Joint Manipulator in midair respectively.
Consider that the motion of space manipulator mainly comprises yawing rotation and elevating movement, it is complicated that it launches action, space manipulator two-arm distance between tie rods is very little simultaneously, comprehensive with above-mentioned factor, cause suspension apparatus easily and mechanical arm interfere, so suspension apparatus is provided with and erosely dodges hanging stick, to guarantee that rope and mechanical arm are without interference.
The simulation process of micro-low gravitation is as shown in Figure 3:
If the coordinate of tracker A3 is O
4x
4y
4z
4, the coordinate of tracker B4 is O
3x
3y
3z
3, the coordinate of joint A12 is OXYZ, and the coordinate of joint B13 is O
1x
1y
1z
1, the coordinate of joint C15 is O
2x
2y
2z
2:
Inactive state: when space manipulator remains static, the coordinate O of tracker A3
4x
4y
4z
4the gravity compensation system at place, by the coordinate O of rope and space mechanism shoulder joint B13
1x
1y
1z
1connect, and a tensile force f is upwards provided
1, make tensile force f
1with tensile force f cited below
2the coordinate OXYZ power taking square M to joint A12 of making a concerted effort
1, make this moment M
1keep the numerical value that one constant.In like manner, the coordinate O of tracker B4
3x
3y
3z
3on gravity compensation system, by the coordinate O of rope and joint C15
2x
2y
2z
2connect, and a tensile force f is upwards provided simultaneously
2, make tensile force f
2to the coordinate O of joint B13
1x
1y
1z
1power taking square M
2, make this moment M
2keep the numerical value that one constant.Namely servo follow-up tracing motion in the present invention is holding torque M
1and M
2keep values constant, do not change with the motion of mechanical arm.
Motion state: in the motion process of space manipulator, coordinate O
1x
1y
1z
1with coordinate O
4x
4y
4z
4, coordinate O
2x
2y
2z
2with coordinate O
3x
3y
3z
3, relative dislocation (being exactly that rope creates relative angle with vertical direction) can be produced, in order to eliminate this dislocation (angle), holding torque M
1and M
2values constant, will surving coordinate OXYZ, coordinate O
1x
1y
1z
1with coordinate O
4x
4y
4z
4position relationship between three also calculates direction and the size of the dislocation (angle) of tracker A3, in like manner by surving coordinate OXYZ, coordinate O
1x
1y
1z
1, coordinate O
3x
3y
3z
3with coordinate O
2x
2y
2z
2position relationship between four also calculates direction and the size of the dislocation (angle) of tracker B4, the numerical value that clearing house obtains is tracing deviation amount, after tracing deviation amount is sent to controller, controller calculates the motion value of tracker A3 and tracker B4 according to these numerical solutions, thus the motion of the tracker A3 controlled in servo follow-up tracing system 1 and tracker B4, eliminate this dislocation (angle), and eliminate tracing deviation.In addition, in order to keep M
1and M
2values constant, while eliminating dislocation (angle), in conjunction with direction and the size of dislocation (angle), controller controls the upwards tensile force f of the gravity compensation system 2 of tracker A3 and tracker B4
1,and F
2size, makes moment M
1and M
2remain a constant numeral.
Above one embodiment of the present of invention have been described in detail, but described content being only preferred embodiment of the present invention, can not being considered to for limiting practical range of the present invention.All equalizations done according to the present patent application scope change and improve, and all should still belong within patent covering scope of the present invention.
Claims (8)
1. the micro-low-gravity simulation method of multi-joint space manipulator, is characterized in that: comprise pose and measure link, servo follow-up tracing link and gravity compensation link:
Pose measures link: adopt high precision position measuring transducer to follow the tracks of the armed lever position of multi-joint space manipulator, and position and the attitude of multi-joint space manipulator is resolved by spatial algorithm principle, then, solve the tracing deviation amount between servo follow-up tracing system (1) and space manipulator, afterwards tracing deviation amount is input in controller;
Servo follow-up tracing link: controller controls servo follow-up tracing system (1) according to the tracing deviation amount received and does servo follow-up tracing motion, eliminates tracing deviation amount;
Gravity compensation link: controller, while control servo follow-up tracing system moves by (1), carries out active gravity compensation according to the gravity compensation system (2) of the gesture stability of space manipulator on gravity direction above it to it;
Repeat described three links, maintain space manipulator suffered making a concerted effort for definite value in motion process.
2. the micro-low-gravity simulation method of multi-joint space manipulator according to claim 1, is characterized in that: pose measures in link, high precision position measuring transducer is arranged on the joint of multi-joint space manipulator.
3. the micro-low-gravity simulation method of multi-joint space manipulator according to claim 1, it is characterized in that: in servo follow-up tracing link, servo follow-up tracing motion comprises gyration and rectilinear motion, gyration is used for the servo follow-up tracing to space manipulator yaw maneuver, and its rotation by servo follow-up tracing system realizes; Rectilinear motion is used for the servo follow-up tracing to space manipulator pitching motion, and servo follow-up tracing system (1) is provided with two line slideways be parallel to each other, and two covers gravity compensation system (2) realize rectilinear motion along described line slideway.
4. the micro-low-gravity simulation method of multi-joint space manipulator according to claim 3, it is characterized in that: servo follow-up tracing system (1) is provided with two trackers, two trackers respectively connect a set of gravity compensation system (2), by resolving the position relationship of tracker and the high precision position measuring transducer below it, calculate tracing deviation amount.
5. the micro-low-gravity simulation method of multi-joint space manipulator according to claim 4, is characterized in that: set the coordinate of tracker A (3) as O
4x
4y
4z
4, the coordinate of tracker B (4) is O
3x
3y
3z
3, the coordinate of the joint A (12) of space manipulator is OXYZ, and the coordinate of joint B (13) is O
1x
1y
1z
1, the coordinate of joint C (15) is O
2x
2y
2z
2:
The gravity compensation system at tracker A (3) place connects joint B (13) and provides a tensile force f upwards
1; The gravity compensation system at tracker B (4) place connects joint C (15) and provides a tensile force f upwards
2, F
2to the coordinate O of joint B (13)
1x
1y
1z
1power taking square M
2, described F
1with F
2the coordinate OXYZ power taking square M to joint A (12) of making a concerted effort
1; In space manipulator motion process, detected the position of each coordinate by high precision position measuring transducer and tracker A, B (3,4), and resolve O
4x
4y
4z
4and O
1x
1y
1z
1, O
3x
3y
3z
3and O
2x
2y
2z
2between tracing deviation amount, tracing deviation amount is passed in controller, controls servo follow-up tracing system (1) and gravity compensation system (2) by controller, maintenance M
1, M
2value constant.
6. the micro-low-gravity simulation method of multi-joint space manipulator according to claim 1, it is characterized in that: gravity compensation system (2) is made up of CD-ROM drive motor, tensile machine, suspension apparatus, associated actuator and support component, and be furnished with the liaison that industrial computer is used between each system, wherein, suspension apparatus comprises rope, dodges hanging stick, special rotating mechanism and pulling force sensor, the upper end of suspension apparatus is connected with tensile machine by rope, its lower end is connected with special rotating mechanism, and special rotating mechanism is arranged on space manipulator.
7. the micro-low-gravity simulation method of multi-joint space manipulator according to claim 6, it is characterized in that: in gravity compensation link, the pulling force numerical value that gravity compensation system (2) utilizes the pulling force sensor on it to record, and feed back to the adjustment that tensile machine carries out pulling force, ensure Joint Manipulator gravity direction to make a concerted effort be zero.
8. the micro-low-gravity simulation method of multi-joint space manipulator according to claim 1, is characterized in that: the gravity compensation point of gravity compensation system (2) on Joint Manipulator adopts single-point and two point to cross barycenter to suspend the mode combined in midair.
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| CN107255449A (en) * | 2017-06-02 | 2017-10-17 | 燕山大学 | The track of center of mass motion containing clearance joints experiment analytical method under a kind of different gravity alignment conditions |
| CN108082540A (en) * | 2017-12-14 | 2018-05-29 | 哈尔滨工业大学 | A kind of three-dimensional zero-g simulator of combination blade cam constant force spring and air-floating thrust bearing |
| CN109625344A (en) * | 2018-12-12 | 2019-04-16 | 上海卫星装备研究所 | Microgravity compensation control system is unfolded in flexible extensions arm integration |
| CN111843419A (en) * | 2020-07-31 | 2020-10-30 | 北京航空航天大学 | Microgravity assembly system and method based on cooperative robot and wearable equipment |
| CN112276945A (en) * | 2020-10-19 | 2021-01-29 | 广东拓斯达科技股份有限公司 | External active gravity compensation system of robot and simulation verification method |
| CN113071721A (en) * | 2021-04-22 | 2021-07-06 | 中国科学院沈阳自动化研究所 | Three-dimensional motion gravity compensation system of space manipulator |
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| CN108082540A (en) * | 2017-12-14 | 2018-05-29 | 哈尔滨工业大学 | A kind of three-dimensional zero-g simulator of combination blade cam constant force spring and air-floating thrust bearing |
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| CN109625344A (en) * | 2018-12-12 | 2019-04-16 | 上海卫星装备研究所 | Microgravity compensation control system is unfolded in flexible extensions arm integration |
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| EP4225539A4 (en) * | 2020-10-11 | 2024-10-02 | Macdonald Dettwiler & Associates Inc | Systems and methods for designing, testing, and validating a robotic system |
| CN112276945A (en) * | 2020-10-19 | 2021-01-29 | 广东拓斯达科技股份有限公司 | External active gravity compensation system of robot and simulation verification method |
| CN112276945B (en) * | 2020-10-19 | 2022-01-14 | 广东拓斯达科技股份有限公司 | External active gravity compensation system of robot and simulation verification method |
| CN113071721A (en) * | 2021-04-22 | 2021-07-06 | 中国科学院沈阳自动化研究所 | Three-dimensional motion gravity compensation system of space manipulator |
| WO2023210838A1 (en) * | 2022-04-27 | 2023-11-02 | 엘지전자 주식회사 | Robot |
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