CN105551366A - Ground microgravity equivalent experimental device and method of six-freedom-degree spatial mechanical arm - Google Patents
Ground microgravity equivalent experimental device and method of six-freedom-degree spatial mechanical arm Download PDFInfo
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Abstract
The invention relates to a ground microgravity equivalent experimental device and method of a six-freedom-degree spatial mechanical arm. The equivalent experimental device comprises a bearing device A, a support air foot device B and a roller air foot device C. The bearing device A realizes simulated microgravity environment equivalent motion of joints of the mechanical arm b1, the roller air foot device C supports motion in 3 freedom degrees and rolling motion in one freedom degree of the plane in the simulated microgravity environment of a supported arm rod, and the support air foot device B supports motion in three freedom degrees in the plane in the simulated microgravity environment of the supported joints. The equivalent experimental device is used for test, the motion states of the joints of the spatial mechanical arm and information of sensors and devices on a satellite load installation plate are detected to effectively simulate the work state of the spatial mechanism arm in the weight loss environment on the ground, the problem that a traditional ground simulated experimental device of the spatial mechanical arm is high in interference or few in freedom degree is solved, and influence on other satellite loads and devices in the motion process can be also simulated.
Description
Technical field
The present invention relates to a kind of space manipulator ground microgravity equivalent experiment device and experimental technique, particularly relating to a kind of Six-freedom-degree space mechanical arm for working under the weightlessness of space carries out whole six-freedom motion simulated experiment space manipulator ground microgravity kinematics equivalent experiment device and experimental technique on ground, belonging to space manipulator ground experiment field.
Background technology
In the process studied kinematics and the dynamics of space manipulator, need effectively to simulate the duty of space manipulator in space under weightlessness on ground.
At present two kinds of devices are mainly used to the ground simulating of space manipulator: hang spring device and plane air-floating apparatus.Hang spring device can realize the motion of multiple degree of freedom, but perturbed force is very large, plane air-floating apparatus can realize X, the translation that Y both direction perturbed force is minimum, but because it only can realize frictionless motion planar, therefore for the space manipulator of multiple degrees of freedom coupling, plane air-floating apparatus only can the motion of support space mechanical arm 2-3 degree of freedom, the coupling linkage of whole degree of freedom cannot be realized simultaneously, often need the different air-floating apparatus of many covers successively could realize the simulation to whole degree of freedom by different mounting meanss, and above-mentioned two kinds of methods all cannot clarifying space mechanical arm in motion process on the impact of other satellite load and equipment, therefore the equivalence tested is not enough.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, Six-freedom-degree space mechanical arm ground microgravity equivalent experiment device and experimental technique are provided, solve the problem that traditional space manipulator ground simulating device perturbed force is comparatively large or degree of freedom is less, and the impact can simulated on other satellite load and equipment in motion process, greatly improve space manipulator carries out the experiment of microgravity environment equivalent simulation experiment spreadability and test effect on ground.
Technical solution of the present invention is: Six-freedom-degree space mechanical arm ground microgravity equivalent experiment device, comprises bearing arrangement A, support gas foot unit B and roller gas foot unit C;
Described bearing arrangement A, comprise bearing assembly, analog satellite load installing plate and balancing weight, bearing assembly comprises bearing seat, be positioned at bearing on bearing seat and rotating shaft, rotating shaft is enclosed within bearing, analog satellite load installing plate is arranged in rotating shaft, balancing weight is arranged on analog satellite load installing plate, is positioned at described spindle central for making the center of gravity of bearing arrangement A; Described analog satellite load installing plate is for installing to move to space manipulator relevant sensor and satellite equipment;
Support gas foot unit B, comprises support and the first gas foot unit, support installing on the first gas foot unit, for fixed space mechanical arm b3 joint;
Roller gas foot unit C, comprises roll wheel assembly and the second gas foot unit, and roll wheel assembly is arranged on the second gas foot unit, for being connected with space manipulator armed lever, with the nothing friction rolling movement of implementation space mechanical arm armed lever;
Described first gas foot unit is identical with the second gas foot unit structure, all for realizing the frictionless motion of three degree of freedom in plane, and Height Adjustable.
Described first gas foot unit and the second gas foot unit include plane gas foot assembly, pressure transducer, fulcrum bar component and spring assembly; Plane gas foot assembly comprises plane gas foot installing plate and is distributed on three plane gas foots on described plane gas foot installing plate; Fulcrum bar component comprises upper rack posts installing plate, lower fulcrum bar installing plate and is distributed on three height-adjustable poles between upper rack posts installing plate and lower fulcrum bar installing plate, and pressure transducer is arranged between plane gas foot installing plate and lower fulcrum bar installing plate; Spring assembly is arranged on upper rack posts installing plate, can finely tune the height of the first gas foot unit and the second gas foot unit, to realize the first gas foot unit and the second gas foot unit to the support of space manipulator.
Described spring assembly comprises spring upper mounting plate, spring lower installation board, four line slideways, four linear bearings and four springs, four line slideways are distributed on spring upper mounting plate, on each line slideway, cover has a spring, and each line slideway is enclosed within a linear bearing, four linear bearings are arranged on spring lower installation board; Described spring assembly is arranged on upper rack posts installing plate by spring lower installation board.
Described support is U-shaped schistose texture, for fixed space mechanical arm 3 joint.
Described roll wheel assembly comprises rolling wheel support, roller installing plate, roller and snap ring;
Described rolling wheel support is the C type framework be arranged on the second gas foot unit, and its opening diameter is greater than the diameter of the long-armed bar of space manipulator; Roller installing plate is vertically mounted on rolling wheel support, the semi-circular arc matched with Snap ring diameter is processed in roller installing plate upper end, and on described semi-circular arc, roller is installed, the excircle that snap ring contacts with described semi-circular arc is processed with guide rail Baltimore groove, when snap ring is arranged on roller installing plate, described roller is arranged in described guide rail Baltimore groove.
The experimental technique of the Six-freedom-degree space mechanical arm ground microgravity equivalent experiment device described in utilization, comprises the steps:
Step one: be connected with the bearing of bearing arrangement A by the rotation output terminal in space manipulator 1 joint, be fixed on bracing frame by the bearing seat of bearing arrangement A, analog satellite load installing plate is installed and space manipulator moves relevant sensor and satellite equipment; The housing in space manipulator b3 joint is fixed on the support of support gas foot unit B, space manipulator galianconism bar end is inserted on the roll wheel assembly being installed on roller gas foot unit C, and the position of roller gas foot unit C is near space manipulator b5 joint and b6 joint;
Step 2: the configuration of regulating shaft bearing apparatus A balancing weight, makes the center of gravity of bearing arrangement A be positioned at spindle central on bearing;
Step 3: the height regulating the first gas foot unit 5 and the second gas foot unit 7, makes support gas foot unit B identical to geostatic pressure with roller gas foot unit C, and uses the long-armed bar of level measurement space manipulator and galianconism bar to keep level;
Step 4: by space manipulator control system be space manipulator send instruction, make each joint motions of space manipulator, the ground microgravity equivalent experiment of implementation space mechanical arm whole six-freedom degree under the microgravity environment of ground;
Step 5: the motion state gathering each joint of space manipulator, contrast with the instruction sent, thus judge whether each joint of space manipulator works under the microgravity environment of ground normal, if normal, enter step 6, otherwise the joint that the instruction of record motion state and transmission is inconsistent, the ground microgravity equivalent experiment of space manipulator whole six-freedom degree under the microgravity environment of ground terminates;
Step 6: the information gathering sensor and the satellite equipment be arranged on analog satellite load installing plate, and judge that whether the work of described sensor and satellite equipment is normal, if abnormal, record abnormal information, the ground microgravity equivalent experiment of space manipulator whole six-freedom degree under the microgravity environment of ground terminates; Otherwise space manipulator whole six-freedom degree equivalent movement under the microgravity environment of ground is normal, and ground microgravity equivalent experiment terminates.
The present invention's advantage is compared with prior art:
(1) the present invention is used for analog satellite load installing plate by bearing arrangement A and relatively rotates around bearing assembly the stimulated microgravity equivalent movement realizing mechanical arm b1 joint, roller gas foot unit C be used for virtual space mechanical arm by the armed lever rolling movement of motion and 1 degree of freedom under the stimulated microgravity of support arm three degree of freedom in the plane, support gas foot unit B is used for being moved by under the stimulated microgravity of support joint three degree of freedom in the plane of virtual space mechanical arm, therefore, the present invention is by bearing arrangement A, gas foot unit B and roller gas foot unit C combinationally uses, solve the problem of implementation space mechanical arm whole six-freedom degree multiaxis coupling linkage in ground equivalent simulated experiment, the space manipulator achieved as designing under weightless working environment carries out the ground microgravity kinematics equivalent test of whole six-freedom degree under ground gravity environment.
(2) bearing in bearing arrangement A of the present invention by rotating shaft for space manipulator b1 joint provides without frictional rotation, plane gas foot in first gas foot unit and the second gas foot unit for mechanical arm provide in plane without friction support, roll wheel assembly in roller gas foot unit C for mechanical arm armed lever provide without friction roll transition road, thus make space manipulator whole six-freedom degree in the microgravity kinematics equivalent test process of ground all maintain extremely low perturbed force level, improve the equivalence of microgravity environment simulated experiment.
(3) the present invention is by bearing arrangement A analog satellite load installing plate relatively rotating around bearing assembly, the various sensors that the motion achieving space manipulator is correlated with, the skimulated motion of satellite equipment space mechanical arm, solve space manipulator ground simulating validation problem on the impact of other satellite load and equipment in motion process.
(4) spring assembly in the present invention first gas foot unit and the second gas foot unit can to highly finely tuning, experimental provision is made to possess certain self-adaptation and self-adjusting ability, reduce space manipulator microgravity equivalent experiment device in use to the requirement of installation accuracy, improve the safety and reliability of device.
(5) fulcrum bar component in the present invention first gas foot unit and the second gas foot unit can by the height of pole adjusting mechanical arm microgravity equivalent experiment device, thus can the installation requirement of flexible adaptation different spaces mechanical arm.
(6) pressure transducer is provided with in the present invention first gas foot unit and the second gas foot unit, the support effect of the first gas foot unit and the second gas foot unit is monitored in real time by pressure transducer, when mechanical arm microgravity equivalent experiment device is because of fault, plane gas foot assembly and the spacing of surface level changes or other reason make its to space manipulator lose supporting role or mechanical arm because of failure cause be subject to downward external force time, the force value that pressure transducer detects reduces or increases, pressure transducer is by alarm operating personnel, improve the safety and reliability of device.
(7) roll wheel assembly of the present invention is by processing semi-circular arc in roller installing plate upper end, and on semi-circular arc, install the equivalent simulation dynamic without friction tube transhipment that roller realizes mechanical arm armed lever, improves the equivalence of microgravity environment simulated experiment; The C type opening diameter of rolling wheel support is greater than the diameter of the long-armed bar of space manipulator simultaneously, ensure that when equivalent experiment device is installed and the roller gas foot unit of b3 arthrodesis can not touch the long-armed bar of mechanical arm, ensure that in experimentation and can not mutually disturb, improve the reliability of microgravity environment simulated experiment.
(8) medium-height trestle of the present invention is designed to U-shaped schistose texture, be connected with side, mechanical arm b3 joint, be experimental provision specialized designs mechanical interface without the need to mechanical arm, make equivalent experiment device can adapt to the requirement of experiment of different spaces mechanical arm, greatly add the versatility of equivalent experiment device.
Accompanying drawing explanation
Fig. 1 is Six-freedom-degree space mechanical arm ground microgravity kinematics equivalent experiment device schematic diagram, and wherein (a) is front view, and (b) is stereographic map;
Fig. 2 is bearing arrangement A schematic diagram;
Fig. 3 is support gas foot unit B schematic diagram;
Fig. 4 is roller gas foot unit C schematic diagram;
Fig. 5 is spring assembly schematic diagram;
Fig. 6 is roll wheel assembly schematic diagram.
Embodiment
As shown in Figure 1, be b1 joint, b2 joint, b3 joint, b4 joint, b5 joint and b6 joint by each key signature of space manipulator, traditional hang spring device can realize the motion of multiple degree of freedom, but perturbed force is very large; Plane air-floating apparatus perturbed force is little, but the motion of only 2 degree of freedom in support space mechanical arm b2 joint and b3 joint.Wherein (a) is front view, and (b) is stereographic map.
The present invention proposes Six-freedom-degree space mechanical arm ground microgravity equivalent experiment device, comprise bearing arrangement A, support gas foot unit B and roller gas foot unit C;
As shown in Figure 2, bearing arrangement A, comprise bearing assembly 1, analog satellite load installing plate 2 and balancing weight 3, bearing assembly comprises bearing seat 11, be positioned at bearing 12 on bearing seat and rotating shaft 13, rotating shaft 13 is enclosed within 12 li, bearing, and analog satellite load installing plate 2 is arranged in rotating shaft 13, and balancing weight 3 is arranged on analog satellite load installing plate 2, for making the center of gravity of bearing arrangement A be positioned at described rotating shaft 13 center, the gravity of load installing plate is avoided to cause interference.Bearing seat 11 supports the weight in whole bearing arrangement and space manipulator 1 joint.Analog satellite load installing plate 2 is simulating pieces of the installed surface of space manipulator on satellite, has and actual products accordant interface and characteristic, can support the various sensors relevant to the motion of space manipulator, the installation of satellite equipment.The bearing 12 represented in Fig. 2 is arranged on inside bearing seat 11.Analog satellite load installing plate 2 can be the sector structure shown in Fig. 1, also can be other structures.
As shown in Figure 3, support gas foot unit B comprises support 4 and the first gas foot unit 5, and support 4 is arranged on the first gas foot unit 5, is U-shaped schistose texture, for fixed space mechanical arm 3 joint.
As shown in Figure 4, roller gas foot unit C comprises roll wheel assembly 6 and the second gas foot unit 7, and roll wheel assembly 6 is arranged on the second gas foot unit 7, for being connected with space manipulator armed lever, with the nothing friction rolling movement of implementation space mechanical arm armed lever.
As shown in Figure 3 or Figure 4, the first gas foot unit 5 is identical with the second gas foot unit 7 structure, all for realizing the frictionless motion of 3 degree of freedom in plane, and Height Adjustable.First gas foot unit 5 and the second gas foot unit 7 include plane gas foot assembly 8, pressure transducer 9, fulcrum bar component 10 and spring assembly 11.
Plane gas foot assembly 8 comprises plane gas foot installing plate 81 and is distributed on three plane gas foots 82 on described plane gas foot installing plate 81.The lower surface of three plane gas foots 82 is placed in high-accuracy water plane, three plane gas foots 82 are by Jet with downward flow direction gases at high pressure, make to form small air film between the lower surface of three plane gas foots 82 and high-accuracy water plane, thus make three plane gas foots 82 suspended motion in high-accuracy water plane, thus eliminate the sufficient friction force of moving in high-accuracy water plane of plane gas, thus may be provided in the approximate frictionless motion of 3 degree of freedom in plane.Three plane gas foot is evenly arranged on a mounting board, thus provides stable support for experimental provision.
Fulcrum bar component 10 comprises upper rack posts installing plate 101, lower fulcrum bar installing plate 102 and is distributed on three height-adjustable poles 103 between upper rack posts installing plate 101 and lower fulcrum bar installing plate 102.Can by regulating the height of length adjustment mechanical arm microgravity equivalent experiment device of pole 103, thus can the installation requirement of flexible adaptation different spaces mechanical arm.
Pressure transducer 9 is arranged between plane gas foot installing plate 81 and lower fulcrum bar installing plate 102.Pressure transducer 9 can detect the pressure between two plates, when mechanical arm microgravity equivalent experiment device is because of fault, plane gas foot assembly and the spacing of surface level changes or other reason makes it lose supporting role to space manipulator, center of gravity does not fully drop on this device, the force value that force snesor must be caused to detect reduces, now, control system gathers force sensor signals, and alarm also needs to fix a breakdown; When mechanical arm is subject to downward external force because of failure cause, make mechanical arm no longer be in horizontality, thus cause force snesor force value excessive, can also need to fix a breakdown by alarm equally.
As shown in Figure 5, spring assembly 11 comprises spring upper mounting plate 111, spring lower installation board 112, four line slideways 113, four springs 115 and four linear bearings 114, spring assembly 11 is arranged on upper rack posts installing plate 101 by spring lower installation board 112, four line slideways 113 are distributed on spring upper mounting plate 111, on each line slideway 113, cover has a spring 115, and each line slideway 113 is enclosed within a linear bearing 114, four linear bearings 114 are arranged on spring lower installation board 112, spring upper mounting plate 111 is for mounting bracket 4 or roll wheel assembly 6.Linear bearing 114, line slideway 113, for guiding, make this device be in horizontality always, do not topple; Spring 115 provides enough this devices of pretension resilient support.Spring assembly 11 can be finely tuned the height of the first gas foot unit 5 or the second gas foot unit 7, to realize the support of the first gas foot unit 5 and the second gas foot unit 7 pairs of space manipulators, make mechanical arm faint motion within the scope of upper and lower rational position at the volley, and ensure that it is in horizontality forever, gravity is fallen on the apparatus uniformly, possess certain self-adaptation and self-adjusting ability, reduce space manipulator microgravity equivalent experiment device in use to the requirement of installation accuracy, improve the safety and reliability of device.
As shown in Figure 6, roll wheel assembly 6 comprises rolling wheel support 61, roller installing plate 62, roller 63 and snap ring 64.Rolling wheel support 61 is for being arranged on the C type framework on the second gas foot unit 7, opening diameter is greater than the diameter of the long-armed bar of space manipulator, ensure that the shape of this framework during experiment just gets out of the way the position of long-armed bar, roller installing plate 62 is vertically mounted on rolling wheel support 61, the semi-circular arc matched with Snap ring diameter is processed in roller installing plate 62 upper end, and on described semi-circular arc, multiple roller is installed, form a roller track, the excircle that snap ring 64 contacts with described semi-circular arc is processed with guide rail Baltimore groove, when snap ring 64 is arranged on roller installing plate 62, roller is arranged in guide rail Baltimore groove.During actual experiment, be enclosed within snap ring by the space manipulator armed lever supported, when mechanical arm armed lever is along jib shaft to rolling movement, armed lever rotates on roller, because rolling friction and small, can think to be close to and think frictionless motion.When mechanical arm armed lever moves in surface level, because the mating reaction of guide rail Baltimore groove and roller set can drive roller installing plate to move with armed lever, because the motion of air-float supporting device in surface level is without rubbing action, therefore whole device is while rod support arm is similar to without friction rolling movement, can with armed lever frictionless motion in surface level.
In equivalent experiment device of the present invention, the bearing connecting analog satellite load installing plate of bearing assembly and space manipulator b1 joint, make analog satellite load installing plate can with the together relatively bearing seat motion of space manipulator b1 articulation output terminal, relatively rotate around bearing assembly the stimulated microgravity equivalent movement realizing mechanical arm b1 joint by analog satellite load installing plate.Roller gas foot unit C support space mechanical arm by the armed lever rolling movement of motion and 1 degree of freedom under the stimulated microgravity of support arm three degree of freedom in the plane.Being moved by under the stimulated microgravity of support joint three degree of freedom in the plane of support gas foot unit B support space mechanical arm.
Utilize the experimental technique of Six-freedom-degree space mechanical arm ground microgravity kinematics equivalent experiment device, comprise the steps:
Step one: the rotation output terminal in space manipulator 1 joint is connected with the bearing 12 of bearing arrangement A, the bearing seat 11 of bearing arrangement A is fixed on bracing frame, analog satellite load installing plate 2 is installed and space manipulator moves relevant sensor and satellite equipment; The housing in space manipulator b3 joint is fixed on the support 4 of support gas foot unit B, space manipulator galianconism bar end is inserted on the roll wheel assembly 6 being installed on roller gas foot unit C, and the position of roller gas foot unit C is near space manipulator b5 joint and b6 joint.
Step 2: the configuration of regulating shaft bearing apparatus A balancing weight, makes the center of gravity of bearing arrangement A be positioned at rotating shaft 13 center on bearing 12.
Step 3: the height regulating pole in the first gas foot unit 5 and the second gas foot unit 7, makes the first gas foot unit 5 identical with pressure sensor reading in the second gas foot unit 7 and the long-armed bar of space manipulator and galianconism bar maintenance level.
Step 4: by space manipulator control system be space manipulator send instruction, make each joint motions of space manipulator, the ground microgravity equivalent experiment of implementation space mechanical arm whole six-freedom degree under the microgravity environment of ground.
When mechanical arm b1 joint motions, drive the analog satellite load installing plate of bearing arrangement relative to the reverse relative motion of b1 joint housing, thus simulate all sensors that satellite load installing plate is installed and the satellite equipment motion state relative to mechanical arm; When mechanical arm b2 joint motions, driving mechanical brachium armed lever and galianconism bar together swing, the roller gas foot unit C being positioned at support gas foot unit B below b3 joint and being positioned at galianconism bar by provide for mechanical arm plane without friction support; When mechanical arm b3 joint motions, drive galianconism bar to swing, roller gas foot unit C by provide for mechanical arm in plane without friction support; When mechanical arm b4 joint motions, by the rolling vertically under the support of roller gas foot unit C of drive galianconism bar; B5 joint and the b6 joint long cantilever structure because causing without armed lever, and the installation site in b5 joint is very near roller gas foot unit C, therefore when roller gas foot unit C is for after galianconism bar provides and effectively support, b5 joint and b6 joint directly can overcome free gravity motion.
Step 5: the motion state gathering each joint of space manipulator, contrast with the instruction sent, thus judge whether each joint of space manipulator works under the microgravity environment of ground normal, if normal, enter step 6, otherwise the joint that the instruction of record motion state and transmission is inconsistent, the ground microgravity equivalent experiment of space manipulator whole six-freedom degree under the microgravity environment of ground terminates;
Step 6: the information gathering sensor and the satellite equipment be arranged on analog satellite load installing plate, and judge that whether the work of described sensor and satellite equipment is normal, if abnormal, record abnormal information, illustrate in space manipulator actual moving process and can impact sensor and satellite equipment, the ground microgravity equivalent experiment of space manipulator whole six-freedom degree under the microgravity environment of ground terminates; Otherwise space manipulator whole six-freedom degree equivalent movement under the microgravity environment of ground is normal, and ground microgravity equivalent experiment terminates.
The invention solves the problem that traditional space manipulator ground simulating device perturbed force is comparatively large or degree of freedom is less, solve the problem of implementation space mechanical arm whole six-freedom degree multiaxis coupling linkage in ground equivalent simulated experiment, and the impact can simulated on other satellite load and equipment in motion process, achieve and carry out the multi-shaft interlocked test of space manipulator under the microgravity simulated environment of ground, to the interference of miscellaneous equipment and interference testing in simulated flight exercise test and motion process, maintain extremely low perturbed force level simultaneously, greatly improve space manipulator carries out the experiment of microgravity environment equivalent simulation experiment effect on ground, very large meaning is had to the research of space manipulator control algolithm under the design of space manipulator and weightlessness.
The content do not described in detail in instructions of the present invention belongs to the known technology of professional and technical personnel in the field.
Claims (6)
1. Six-freedom-degree space mechanical arm ground microgravity equivalent experiment device, is characterized in that: comprise bearing arrangement A, support gas foot unit B and roller gas foot unit C;
Described bearing arrangement A, comprise bearing assembly (1), analog satellite load installing plate (2) and balancing weight (3), bearing assembly comprises bearing seat (11), be positioned at bearing (12) on bearing seat and rotating shaft (13), it is inner that rotating shaft (13) is enclosed within bearing (12), analog satellite load installing plate (2) is arranged in rotating shaft (13), balancing weight (3) is arranged on analog satellite load installing plate (2), is positioned at described rotating shaft (13) center for making the center of gravity of bearing arrangement A; Described analog satellite load installing plate (2) is for installing to move to space manipulator relevant sensor and satellite equipment;
Support gas foot unit B, comprises support (4) and the first gas foot unit (5), and support (4) is arranged on the first gas foot unit (5), for fixed space mechanical arm b3 joint;
Roller gas foot unit C, comprise roll wheel assembly (6) and the second gas foot unit (7), roll wheel assembly (6) is arranged on the second gas foot unit (7), for being connected with space manipulator armed lever, with the nothing friction rolling movement of implementation space mechanical arm armed lever;
Described first gas foot unit (5) is identical with the second gas foot unit (7) structure, all for realizing the frictionless motion of 3 degree of freedom in plane, and Height Adjustable.
2. Six-freedom-degree space mechanical arm ground according to claim 1 microgravity equivalent experiment device, is characterized in that: described first gas foot unit (5) and the second gas foot unit (7) include plane gas foot assembly (8), pressure transducer (9), fulcrum bar component (10) and spring assembly (11); Plane gas foot assembly (8) comprises plane gas foot installing plate (81) and is distributed on three plane gas foot (82) on described plane gas foot installing plate (81); Fulcrum bar component (10) comprises upper rack posts installing plate (101), lower fulcrum bar installing plate (102) and is distributed on three height-adjustable poles (103) between upper rack posts installing plate (101) and lower fulcrum bar installing plate (102), and pressure transducer (9) is arranged between plane gas foot installing plate (81) and lower fulcrum bar installing plate (102); Spring assembly (11) is arranged on upper rack posts installing plate (101), can finely tune the height of the first gas foot unit (5) and the second gas foot unit (7), to realize the first gas foot unit (5) and the second gas foot unit (7) to the support of space manipulator.
3. Six-freedom-degree space mechanical arm ground according to claim 2 microgravity equivalent experiment device, it is characterized in that: described spring assembly (11) comprises spring upper mounting plate (111), spring lower installation board (112), four line slideways (113), four linear bearings (114) and four springs (115), four line slideways (113) are distributed on spring upper mounting plate (111), the upper cover of each line slideway (113) has a spring (115), and each line slideway (113) is enclosed within a linear bearing (114), four linear bearings (114) are arranged on spring lower installation board (112), described spring assembly (11) is arranged on upper rack posts installing plate (101) by spring lower installation board (112).
4. Six-freedom-degree space mechanical arm ground according to claim 1 microgravity equivalent experiment device, is characterized in that: described support (4) is U-shaped schistose texture, for fixed space mechanical arm 3 joint.
5. Six-freedom-degree space mechanical arm ground according to claim 1 microgravity equivalent experiment device, is characterized in that: described roll wheel assembly (6) comprises rolling wheel support (61), roller installing plate (62), roller (63) and snap ring (64);
Described rolling wheel support (61) is for being arranged on the C type framework on the second gas foot unit (7), and its opening diameter is greater than the diameter of the long-armed bar of space manipulator; Roller installing plate (62) is vertically mounted on rolling wheel support (61), the semi-circular arc matched with Snap ring diameter is processed in roller installing plate (62) upper end, and roller (63) is installed on described semi-circular arc, the excircle that snap ring (64) contacts with described semi-circular arc is processed with guide rail Baltimore groove, when snap ring (64) is arranged on roller installing plate (62), described roller is arranged in described guide rail Baltimore groove.
6. utilize the experimental technique of the Six-freedom-degree space mechanical arm ground microgravity equivalent experiment device described in claim 1, it is characterized in that comprising the steps:
Step one: the rotation output terminal in space manipulator 1 joint is connected with the bearing (12) of bearing arrangement A, the bearing seat (11) of bearing arrangement A is fixed on bracing frame, installs and space manipulator moves relevant sensor and satellite equipment analog satellite load installing plate (2) is upper; The housing in space manipulator b3 joint is fixed on the support (4) of support gas foot unit B, space manipulator galianconism bar end is inserted on the roll wheel assembly (6) being installed on roller gas foot unit C, and the position of roller gas foot unit C is near space manipulator b5 joint and b6 joint;
Step 2: the configuration of regulating shaft bearing apparatus A balancing weight, makes the center of gravity of bearing arrangement A be positioned at upper rotating shaft (13) center of bearing (12);
Step 3: the height regulating the first gas foot unit 5 and the second gas foot unit 7, makes support gas foot unit B identical to geostatic pressure with roller gas foot unit C, and uses the long-armed bar of level measurement space manipulator and galianconism bar to keep level;
Step 4: by space manipulator control system be space manipulator send instruction, make each joint motions of space manipulator, the ground microgravity equivalent experiment of implementation space mechanical arm whole six-freedom degree under the microgravity environment of ground;
Step 5: the motion state gathering each joint of space manipulator, contrast with the instruction sent, thus judge whether each joint of space manipulator works under the microgravity environment of ground normal, if normal, enter step 6, otherwise the joint that the instruction of record motion state and transmission is inconsistent, the ground microgravity equivalent experiment of space manipulator whole six-freedom degree under the microgravity environment of ground terminates;
Step 6: the information gathering sensor and the satellite equipment be arranged on analog satellite load installing plate, and judge that whether the work of described sensor and satellite equipment is normal, if abnormal, record abnormal information, the ground microgravity equivalent experiment of space manipulator whole six-freedom degree under the microgravity environment of ground terminates; Otherwise space manipulator whole six-freedom degree equivalent movement under the microgravity environment of ground is normal, and ground microgravity equivalent experiment terminates.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106346463A (en) * | 2016-10-18 | 2017-01-25 | 北京精密机电控制设备研究所 | Assembly method of space manipulator system |
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| CN106571097A (en) * | 2016-11-02 | 2017-04-19 | 哈尔滨工业大学 | Clearance space-contained manipulator simulation device |
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| CN112220559A (en) * | 2020-10-16 | 2021-01-15 | 北京理工大学 | Method and device for determining gravity and bias force of mechanical arm |
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| CN106571097B (en) * | 2016-11-02 | 2019-03-08 | 哈尔滨工业大学 | A kind of simulator of mechanical arm containing clearance space |
| CN109367828A (en) * | 2018-11-29 | 2019-02-22 | 北京精密机电控制设备研究所 | A kind of robot for space arm carries the ground physical verifying system and application method of projectile |
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| CN110926843B (en) * | 2019-12-18 | 2021-08-03 | 北京理工大学 | Ground microgravity equivalent experimental device and method for seven-degree-of-freedom space manipulator |
| CN111551362A (en) * | 2020-05-15 | 2020-08-18 | 河北工业大学 | Planetary gear mechanism vibration response test device for simulating weightless environment |
| CN112220559A (en) * | 2020-10-16 | 2021-01-15 | 北京理工大学 | Method and device for determining gravity and bias force of mechanical arm |
| CN114459356A (en) * | 2022-03-14 | 2022-05-10 | 哈尔滨工业大学 | Device for testing end pose precision of space mechanical arm |
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