CN105551366B - Six-freedom-degree space mechanical arm ground microgravity equivalent experiment device and experimental method - Google Patents

Six-freedom-degree space mechanical arm ground microgravity equivalent experiment device and experimental method Download PDF

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Publication number
CN105551366B
CN105551366B CN201510945804.3A CN201510945804A CN105551366B CN 105551366 B CN105551366 B CN 105551366B CN 201510945804 A CN201510945804 A CN 201510945804A CN 105551366 B CN105551366 B CN 105551366B
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gas foot
mounting plate
foot unit
freedom
space
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CN105551366A (en
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王燕波
范庆麟
刘嘉宇
许剑
杨涛
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China Academy of Launch Vehicle Technology CALT
Beijing Research Institute of Precise Mechatronic Controls
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China Academy of Launch Vehicle Technology CALT
Beijing Research Institute of Precise Mechatronic Controls
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    • GPHYSICS
    • G09EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09BEDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B25/00Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
    • G09B25/02Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery

Abstract

Six-freedom-degree space mechanical arm ground microgravity equivalent experiment device and experimental method, wherein equivalent experiment device includes bearing arrangement A, holder gas foot unit B and idler wheel gas foot unit C, and bearing arrangement A realizes the stimulated microgravity equivalent movement in the joints mechanical arm b1.Idler wheel gas foot unit C support to be supported armed lever in the plane under the stimulated microgravity of 3 degree of freedom movement and 1 degree of freedom armed lever rolling movement.Holder gas foot unit B support is supported joint and moves under the stimulated microgravity of 3 degree of freedom in the plane.It is tested using equivalent experiment device, sensor and the information realization of equipment effectively simulate working condition of the space manipulator under weightlessness on ground in motion state and satellite load mounting plate by detecting each joint of space manipulator, it solves the problems, such as that traditional space manipulator ground simulating device perturbed force is big or degree of freedom is few, and the influence to other satellite loads and equipment during the motion can be simulated.

Description

Six-freedom-degree space mechanical arm ground microgravity equivalent experiment device and experimental method
Technical field
The present invention relates to a kind of space manipulator ground microgravity equivalent experiment device and experimental methods, more particularly to one kind Six-freedom-degree space mechanical arm to work under the weightlessness of space carries out whole six-freedom motion simulations in fact on ground The space manipulator ground microgravity kinematics equivalent experiment device and experimental method tested belong to space manipulator ground experiment neck Domain.
Background technology
During the kinematics and dynamics to space manipulator are studied, need effectively to simulate on ground The space manipulator working condition under weightlessness in space.
Two kinds of devices are mainly used to the ground simulating of space manipulator at present:Hang spring device and plane air supporting dress It sets.The movement of multiple degree of freedom may be implemented in hang spring device, but perturbed force is very big;X, Y two may be implemented in plane air-floating apparatus The minimum translation of a direction perturbed force, but because it is only capable of realizing frictionless motion planar, therefore for multiple degrees of freedom The space manipulator of coupling, plane air-floating apparatus can only support the movement of 2-3 degree of freedom of space manipulator, can not realize simultaneously The coupling linkage of whole degree of freedom is generally required to cover different air-floating apparatus more and could gradually be realized by different mounting means Simulation to whole degree of freedom, and above two method can not clarifying space mechanical arm during the motion to other satellites carry The influence of lotus and equipment, therefore the equivalence tested is insufficient.
Invention content
The technology of the present invention solves the problems, such as:Overcome the deficiencies of the prior art and provide Six-freedom-degree space mechanical arm ground It is larger to solve traditional space manipulator ground simulating device perturbed force for microgravity equivalent experiment device and experimental method Or the problem that degree of freedom is less, and the influence to other satellite loads and equipment during the motion can be simulated, greatly improve Space manipulator carries out the experiment spreadability and test effect of microgravity environment equivalent simulation experiment on ground.
Technical solution of the invention is:Six-freedom-degree space mechanical arm ground microgravity equivalent experiment device, including Bearing arrangement A, holder gas foot unit B and idler wheel gas foot unit C;
The bearing arrangement A, including bearing assembly, analog satellite load mounting plate and clump weight, bearing assembly include axis Bearing, the bearing on bearing block and shaft, shaft are sleeved in bearing, and analog satellite load mounting plate is mounted in shaft, Clump weight is mounted on analog satellite load mounting plate, for making the center of gravity of bearing arrangement A be located at the spindle central;The mould Quasi- satellite load mounting plate moves relevant sensor and satellite equipment for installing with space manipulator;
Holder gas foot unit B, including holder and the first gas foot unit, holder are mounted on the first gas foot unit, for solid Determine the joints space manipulator b3;
Idler wheel gas foot unit C, including roll wheel assembly and the second gas foot unit, roll wheel assembly are mounted on the second gas foot unit On, for connect with space manipulator armed lever, with realize space manipulator armed lever without the rolling movement that rubs;
The first gas foot unit and the second gas foot unit structure are identical, are used to realize the nothing of three degree of freedom in plane Fricting movement, and it is height-adjustable.
The first gas foot unit and the second gas foot unit include plane gas foot component, pressure sensor, fulcrum bar component And spring assembly;Plane gas foot component includes that plane gas foot mounting plate and be distributed on the plane gas foot mounting plate three are flat Face gas foot;Fulcrum bar component include upper rack posts mounting plate, lower fulcrum bar mounting plate and be distributed on upper rack posts mounting plate and lower fulcrum bar peace Three height-adjustable struts between loading board, pressure sensor be mounted on plane gas foot mounting plate and lower fulcrum bar mounting plate it Between;Spring assembly is mounted on upper rack posts mounting plate, can be carried out to the height of the first gas foot unit and the second gas foot unit micro- It adjusts, to realize the support of the first gas foot unit and the second gas foot unit to space manipulator.
The spring assembly include spring upper mounting plate, spring lower installation board, four the linear guides, four linear bearings and Four springs, four the linear guides are distributed on spring upper mounting plate, and there are one springs for set in each the linear guide, and each straight In a linear bearing, four linear bearings are mounted on spring lower installation board line guide rail sleeve;The spring assembly passes through bullet Spring lower installation board is mounted on upper rack posts mounting plate.
The holder is U-shaped laminated structure, is used for 3 joint of fixed space mechanical arm.
The roll wheel assembly includes rolling wheel support, idler wheel mounting plate, idler wheel and snap ring;
The rolling wheel support is the c-type frame on the second gas foot unit, and opening diameter is more than space manipulator The diameter of long armed lever;Idler wheel mounting plate is vertically mounted on rolling wheel support, and idler wheel mounting plate upper end is processed into and Snap ring diameter phase Matched semi-circular arc, and idler wheel is installed on the semi-circular arc, it is in contact with the semi-circular arc in snap ring Excircle on be machined with guide rail baltimore groove, when snap ring be mounted on idler wheel mounting plate on when, it is recessed that the idler wheel is located at the guide rail In shape slot.
Using the experimental method of the Six-freedom-degree space mechanical arm ground microgravity equivalent experiment device, including it is as follows Step:
Step 1:The rotation output end in the joints space manipulator b1 is connect with the bearing of bearing arrangement A, by bearing arrangement The bearing block of A is fixed on supporting rack, installation and the relevant sensing of space manipulator movement on analog satellite load mounting plate Device and satellite equipment;The shell in the joints space manipulator b3 is fixed on the holder of holder gas foot unit B, by space manipulator Galianconism bar end is inserted on the roll wheel assembly for being installed on idler wheel gas foot unit C, and idler wheel gas foot unit C is located proximate to space machine The tool joints arm b5 and the joints b6;
Step 2:The configuration for adjusting bearing arrangement A clump weights, makes the center of gravity of bearing arrangement A be located at spindle central on bearing;
Step 3:The height for adjusting the first gas foot unit 5 and the second gas foot unit 7 makes holder gas foot unit B and idler wheel gas Foot unit C is identical to geostatic pressure, and keeps horizontal using the long armed lever of level measurement space manipulator and galianconism bar;
Step 4:It is that space manipulator sends instruction by space manipulator control system, makes each joint of space manipulator The ground microgravity equivalent experiment of space manipulator whole six-freedom degrees under the microgravity environment of ground is realized in movement;
Step 5:The motion state in each joint of space manipulator is acquired, the instruction with transmission is compared, to judge Normally whether each joint of space manipulator worked under the microgravity environment of ground, if normally, entering step six, otherwise recording The motion state joint inconsistent with the instruction sent, space manipulator whole six-freedom degrees under the microgravity environment of ground Ground microgravity equivalent experiment terminates;
Step 6:Acquisition is mounted on the information of the sensor and satellite equipment on analog satellite load mounting plate, and judges Whether the work of the sensor and satellite equipment is normal, if abnormal, records abnormal information, space manipulator is on ground The ground microgravity equivalent experiment of whole six-freedom degrees terminates under the microgravity environment of face;Otherwise, space manipulator is micro- on ground Whole six-freedom degree equivalent movements are normal under gravity environment, and ground microgravity equivalent experiment terminates.
The advantages of the present invention over the prior art are that:
(1) relative rotation of the present invention by bearing arrangement A for analog satellite load mounting plate around bearing assembly is realized The stimulated microgravity equivalent movement in the joints mechanical arm b1, idler wheel gas foot unit C is for simulating being supported for space manipulator Armed lever in the plane under the stimulated microgravity of three degree of freedom movement and 1 degree of freedom armed lever rolling movement, holder gas It transports under the stimulated microgravity of three degree of freedom in the plane in the joint that is supported that foot unit B is used to simulate space manipulator Dynamic, therefore, the present invention is applied in combination by bearing arrangement A, gas foot unit B and idler wheel gas foot unit C's, is solved on ground etc. The problem of realizing space manipulator whole six-freedom degree multiaxis coupling linkage in simulated experiment is imitated, is realized as weightless building ring The ground microgravity kinematics that the space manipulator designed under border carries out whole six-freedom degrees under ground gravity environment is equivalent Experiment.
(2) bearing in bearing arrangement A of the present invention provides no frictional rotation by shaft for the joints space manipulator b1, the Plane gas in one gas foot unit and the second gas foot unit be enough mechanical arm provide in plane without friction support, idler wheel gas foot dress It sets the roll wheel assembly in C and provides no friction roll transition road for mechanical arm armed lever, to make space manipulator be transported in ground microgravity Whole six-freedom degrees maintain extremely low perturbed force level during dynamic equivalent test, improve microgravity environment simulation The equivalence of experiment.
(3) present invention realizes sky by bearing arrangement A analog satellite load mounting plates around the relative rotation of bearing assembly The skimulated motion of the movement relevant various sensors, satellite equipment space mechanical arm of room machine arm, solves space machine The ground simulating validation problem of the tool arm influence to other satellite loads and equipment during the motion.
(4) spring assembly in the first gas foot unit and the second gas foot unit of the invention can make to being highly finely adjusted Experimental provision has certain adaptive and self-adjusting ability, reduces space manipulator microgravity equivalent experiment device and is using When requirement to installation accuracy, improve the safety and reliability of device.
(5) fulcrum bar component in the first gas foot unit and the second gas foot unit of the invention can pass through strut adjusting mechanical arm The height of microgravity equivalent experiment device, so as to the installation requirement of flexible adaptation different spaces mechanical arm.
(6) it is provided with pressure sensor in the first gas foot unit and the second gas foot unit of the invention, passes through pressure sensor The support effect for monitoring the first gas foot unit and the second gas foot unit in real time, when mechanical arm microgravity equivalent experiment device for some reason Distance changes between barrier, plane gas foot component and horizontal plane or other reasons make it lose supporting role or machine to space manipulator Tool arm because of failure cause by downward external force when, the pressure value of pressure sensor detection reduces or increases, and pressure sensor is logical Alarm operating personnel are crossed, the safety and reliability of device is improved.
(7) roll wheel assembly of the present invention in idler wheel mounting plate upper end by processing semi-circular arc, and on semi-circular arc The equivalent simulation dynamic without friction tube transhipment that idler wheel realizes mechanical arm armed lever is installed, improve microgravity environment simulated experiment etc. Effect property;The c-opening diameter of rolling wheel support is more than the diameter of the long armed lever of space manipulator simultaneously, ensure that installation equivalent experiment dress The long armed lever of mechanical arm will not be touched when setting with the idler wheel gas foot unit of b3 arthrodesises, ensure that will not phase in experimentation Mutually interference, improves the reliability of microgravity environment simulated experiment.
(8) support Design is U-shaped laminated structure in the present invention, is connect with the joints mechanical arm b3 side, is without mechanical arm Experimental provision specially designs mechanical interface, and equivalent experiment device is made to be suitable for the requirement of experiment of different spaces mechanical arm, greatly increases The versatility of equivalent experiment device is added.
Description of the drawings
Fig. 1 is Six-freedom-degree space mechanical arm ground microgravity kinematics equivalent experiment schematic device, wherein based on (a) View (b) is stereogram;
Fig. 2 is bearing arrangement A schematic diagrames;
Fig. 3 is holder gas foot unit B schematic diagrames;
Fig. 4 is idler wheel gas foot unit C schematic diagrames;
Fig. 5 is spring assembly schematic diagram;
Fig. 6 is roll wheel assembly schematic diagram.
Specific implementation mode
As shown in Figure 1, being the joints b1, the joints b2, the joints b3, the joints b4, b5 by each joint marker of space manipulator Joint and the joints b6, the movement of multiple degree of freedom may be implemented in traditional hang spring device, but perturbed force is very big;Plane air-floating apparatus Perturbed force is small, but only supports the movement of 2 degree of freedom in the joints space manipulator b2 and the joints b3.Wherein (a) is front view, (b) For stereogram.
The present invention proposes Six-freedom-degree space mechanical arm ground microgravity equivalent experiment device, including bearing arrangement A, branch Frame gas foot unit B and idler wheel gas foot unit C;
As shown in Fig. 2, bearing arrangement A, including bearing assembly 1, analog satellite load mounting plate 2 and clump weight 3, bearing group Part includes that bearing block 11, the bearing 12 on bearing block and shaft 13, shaft 13 are sleeved in bearing 12, analog satellite load peace Loading board 2 is mounted in shaft 13, and clump weight 3 is mounted on analog satellite load mounting plate 2, the center of gravity for making bearing arrangement A Positioned at 13 center of the shaft, the gravity of load mounting plate is avoided to interfere.Bearing block 11 support entire bearing arrangement and The weight in the joints space manipulator b1.Analog satellite load mounting plate 2 is the simulation of mounting surface of the space manipulator on satellite Part, possess with actual products accordant interface and characteristic, can support the relevant various sensors of the movement with space manipulator, The installation of satellite equipment.The bearing 12 indicated in Fig. 2 is mounted on 11 the inside of bearing block.Analog satellite load mounting plate 2 can be Sector structure shown in Fig. 1 can also be other structures.
As shown in figure 3, holder gas foot unit B includes holder 4 and the first gas foot unit 5, holder 4 is mounted on the first gas and fills enough It sets on 5, is U-shaped laminated structure, is used for 3 joint of fixed space mechanical arm.
As shown in figure 4, idler wheel gas foot unit C includes roll wheel assembly 6 and the second gas foot unit 7, roll wheel assembly 6 is mounted on the On two gas foot units 7, for connect with space manipulator armed lever, with realize space manipulator armed lever without the rolling movement that rubs.
As shown in Figure 3 or Figure 4, the first gas foot unit 5 is identical with 7 structure of the second gas foot unit, is used to realize 3 in plane The frictionless motion of a degree of freedom, and it is height-adjustable.First gas foot unit 5 and the second gas foot unit 7 include plane gas foot Component, pressure sensor 9, fulcrum bar component and spring assembly 11.
Plane gas foot component includes plane gas foot mounting plate 81 and be distributed on the plane gas foot mounting plate 81 three Plane gas foot 82.The lower surface of three plane gas foots 82 is placed in high-accuracy water plane, and three plane gas foots 82 are by downward High pressure gas is sprayed, makes to form small air film between the lower surface and high-accuracy water plane of three plane gas foots 82, to make Three suspended motions in high-accuracy water plane of plane gas foot 82, move in high-accuracy water plane enough to eliminate plane gas Frictional force, so as to provide the approximate frictionless motion of planar 3 degree of freedom.Three plane gas foots are equal on a mounting board Even arrangement, to provide stable support for experimental provision.
Fulcrum bar component includes upper rack posts mounting plate 101, lower fulcrum bar mounting plate 102 and is distributed on upper rack posts mounting plate 101 Three height-adjustable struts 103 between lower fulcrum bar mounting plate 102.The length adjustment of adjusting strut 103 can be passed through The height of mechanical arm microgravity equivalent experiment device, so as to the installation requirement of flexible adaptation different spaces mechanical arm.
Pressure sensor 9 is mounted between plane gas foot mounting plate 81 and lower fulcrum bar mounting plate 102.Pressure sensor 9 can Detect two plates between pressure, when mechanical arm microgravity equivalent experiment device because failure, plane gas foot component and horizontal plane it Between distance change or other reasons make it lose supporting role to space manipulator, center of gravity is not fallen fully on this device, inevitable It causes the pressure value that force snesor detects to reduce, at this point, control system acquires force sensor signals, and alarm and needs to arrange Except failure;When mechanical arm is because failure cause is by downward external force so that mechanical arm is no longer on horizontality, so as to cause power Sensor pressure values are excessive, and same meeting alarm simultaneously needs to debug.
As shown in figure 5, spring assembly 11 includes 112, four spring upper mounting plate 111, spring lower installation board the linear guides 113, four springs 115 and four linear bearings 114, spring assembly 11 are pacified by spring lower installation board 112 mounted on upper rack posts In loading board 101, four the linear guides 113 are distributed on spring upper mounting plate 111, and there are one bullets for set in each the linear guide 113 Spring 115, and each the linear guide 113 is sleeved in a linear bearing 114, four linear bearings 114 are mounted under spring and install On plate 112, spring upper mounting plate 111 is used for mounting bracket 4 or roll wheel assembly 6.Linear bearing 114, the linear guide 113 are for leading To so that the device is constantly in horizontality, does not topple;Spring 115 provides enough preload resilient support devices.Spring Component 11 can be finely adjusted the height of the first gas foot unit 5 or the second gas foot unit 7, to realize 5 He of the first gas foot unit Support of the second gas foot unit 7 to space manipulator makes the mechanical arm faint movement within the scope of upper and lower rational position during exercise, And ensure that it is in horizontality forever, so that gravity is uniformly fallen on the apparatus, it is energy saving to have certain adaptive and self-regulated Power reduces space manipulator microgravity equivalent experiment device when in use to the requirement of installation accuracy, improves the peace of device Full property and reliability.
As shown in fig. 6, roll wheel assembly 6 includes rolling wheel support 61, idler wheel mounting plate 62, idler wheel 63 and snap ring 64.Idler wheel branch Frame 61 is the c-type frame on the second gas foot unit 7, and opening diameter is more than the diameter of the long armed lever of space manipulator, ensures The shape of the frame just gets out of the way the position of long armed lever when experiment, and idler wheel mounting plate 62 is vertically mounted on rolling wheel support 61, rolling The semi-circular arc to match with Snap ring diameter is processed into wheel mounting plate 62 upper end, and is equipped on the semi-circular arc more A idler wheel, forms a roller track, and it is recessed to be machined with guide rail on the excircle that snap ring 64 is in contact with the semi-circular arc Shape slot, when snap ring 64 is mounted on idler wheel mounting plate 62, idler wheel is located in guide rail baltimore groove.It is supported when actual experiment Space manipulator armed lever is sleeved in snap ring, and when mechanical arm armed lever is along armed lever axial direction rolling movement, armed lever rotates on idler wheel, because For rolling friction and its small, it is believed that almost think frictionless motion.When mechanical arm armed lever moves in the horizontal plane, because leading The mating reaction of rail baltimore groove and roller group can drive idler wheel mounting plate to be moved with armed lever, in the horizontal plane because of air-float supporting device Movement without rubbing action, therefore whole device is while rod support arm approximation is without friction rolling movement, can be with armed lever in water Frictionless motion in plane.
In equivalent experiment device of the present invention, the bearing connection analog satellite load mounting plate and space manipulator of bearing assembly The joints b1, alloing analog satellite load mounting plate, opposite bearing block is transported together with space manipulator b1 articulations output end It is dynamic, the stimulated microgravity in the joints mechanical arm b1 is realized around the relative rotation of bearing assembly by analog satellite load mounting plate Equivalent movement.Idler wheel gas foot unit C supports the simulation for being supported armed lever three degree of freedom in the plane of space manipulator micro- heavy The armed lever rolling movement of movement and 1 degree of freedom under force environment.Holder gas foot unit B support space manipulators are supported joint It is moved under the stimulated microgravity of three degree of freedom in the plane.
Using the experimental method of Six-freedom-degree space mechanical arm ground microgravity kinematics equivalent experiment device, including it is as follows Step:
Step 1:The rotation output end in the joints space manipulator b1 is connect with the bearing 12 of bearing arrangement A, bearing is filled The bearing block 11 for setting A is fixed on supporting rack, and installation and space manipulator movement are relevant on analog satellite load mounting plate 2 Sensor and satellite equipment;The shell in the joints space manipulator b3 is fixed on the holder 4 of holder gas foot unit B, by space Mechanical arm galianconism bar end is inserted on the roll wheel assembly 6 for being installed on idler wheel gas foot unit C, and the position of idler wheel gas foot unit C is leaned on The near space joints mechanical arm b5 and the joints b6.
Step 2:The configuration for adjusting bearing arrangement A clump weights, makes the center of gravity of bearing arrangement A be located at shaft 13 on bearing 12 Center.
Step 3:The height for adjusting strut in the first gas foot unit 5 and the second gas foot unit 7, makes 5 He of the first gas foot unit Pressure sensor reading is identical in second gas foot unit 7 and the long armed lever of space manipulator and galianconism bar keep horizontal.
Step 4:It is that space manipulator sends instruction by space manipulator control system, makes each joint of space manipulator The ground microgravity equivalent experiment of space manipulator whole six-freedom degrees under the microgravity environment of ground is realized in movement.
When mechanical arm b1 joint motions, drive the analog satellite load mounting plate of bearing arrangement anti-with respect to b1 joint housings To relative motion, to simulate all sensors installed on satellite load mounting plate and satellite equipment relative to mechanical arm Motion state;When mechanical arm b2 joint motions, drives the long armed lever of mechanical arm and galianconism bar to swing together, be located at below the joints b3 Holder gas foot unit B and positioned at galianconism bar idler wheel gas foot unit C by for mechanical arm provide in plane without friction support;When When mechanical arm b3 joint motions, galianconism bar is driven to swing, idler wheel gas foot unit C will provide being propped up without friction in plane for mechanical arm Support;When mechanical arm b4 joint motions, the rolling in an axial direction under the support of idler wheel gas foot unit C of galianconism bar will be driven;The joints b5 With the joints b6 caused by no armed lever long cantilever structure, and the installation site in the joints b5 is very close to idler wheel gas foot unit C, therefore After idler wheel gas foot unit C provides effective support for galianconism bar, the joints b5 and the joints b6 directly can overcome free gravity to move.
Step 5:The motion state in each joint of space manipulator is acquired, the instruction with transmission is compared, to judge Normally whether each joint of space manipulator worked under the microgravity environment of ground, if normally, entering step six, otherwise recording The motion state joint inconsistent with the instruction sent, space manipulator whole six-freedom degrees under the microgravity environment of ground Ground microgravity equivalent experiment terminates;
Step 6:Acquisition is mounted on the information of the sensor and satellite equipment on analog satellite load mounting plate, and judges Whether the work of the sensor and satellite equipment is normal, if abnormal, record abnormal information, illustrates space manipulator Sensor and satellite equipment can be impacted in actual moving process, space manipulator is whole six under the microgravity environment of ground The ground microgravity equivalent experiment of a degree of freedom terminates;Otherwise, space manipulator under the microgravity environment of ground all six from Normal by degree equivalent movement, ground microgravity equivalent experiment terminates.
The present invention solves that traditional space manipulator ground simulating device perturbed force is larger or degree of freedom is less Problem solves and realizes asking for space manipulator whole six-freedom degree multiaxis coupling linkage in ground equivalent simulated experiment Topic, and the influence to other satellite loads and equipment during the motion can be simulated, it realizes in ground microgravity simulated environment The lower interference carried out in the multi-shaft interlocked test of space manipulator, simulated flight exercise test and motion process to miscellaneous equipment and dry Test is related to, the perturbed force for maintaining extremely low is horizontal, greatly improves space manipulator and carries out microgravity environment on ground The experiment effect of equivalent simulation experiment, the research of design and weightlessness down space mechanical arm control algolithm to space manipulator There is great significance.
The content not being described in detail in description of the 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, it is characterised in that:Including bearing arrangement A, holder Gas foot unit B and idler wheel gas foot unit C;
The bearing arrangement A, including bearing assembly (1), analog satellite load mounting plate (2) and clump weight (3), bearing assembly packet Include bearing block (11), the bearing (12) on bearing block and shaft (13), it is inner that shaft (13) is sleeved on bearing (12), analog satellite Load mounting plate (2) is mounted in shaft (13), and clump weight (3) is mounted on analog satellite load mounting plate (2), for making axis The center of gravity of bearing apparatus A is located at the shaft (13) center;The analog satellite load mounting plate (2) is for installation and space mechanism Arm moves relevant sensor and satellite equipment;
Holder gas foot unit B, including holder (4) and the first gas foot unit (5), holder (4) are mounted on the first gas foot unit (5) On, it is used for the joints fixed space mechanical arm b3;
Idler wheel gas foot unit C, including roll wheel assembly (6) and the second gas foot unit (7), roll wheel assembly (6) are mounted on the second gas foot On device (7), for connect with space manipulator armed lever, with realize space manipulator armed lever without the rolling movement that rubs;
The first gas foot unit (5) is identical with the second gas foot unit (7) structure, is used to realize 3 degree of freedom in plane Frictionless motion, and it is height-adjustable.
2. Six-freedom-degree space mechanical arm according to claim 1 ground microgravity equivalent experiment device, it is characterised in that: The first gas foot unit (5) and the second gas foot unit (7) include plane gas foot component (8), pressure sensor (9), strut Component (10) and spring assembly (11);Plane gas foot component (8) includes plane gas foot mounting plate (81) and is distributed on the plane Three plane gas foots (82) on gas foot mounting plate (81);Fulcrum bar component (10) includes upper rack posts mounting plate (101), lower fulcrum bar peace Loading board (102) and be distributed between upper rack posts mounting plate (101) and lower fulcrum bar mounting plate (102) three are height-adjustable Strut (103), pressure sensor (9) are mounted between plane gas foot mounting plate (81) and lower fulcrum bar mounting plate (102);Groups of springs Part (11) is mounted on upper rack posts mounting plate (101), can be to the height of the first gas foot unit (5) and the second gas foot unit (7) It is finely adjusted, to realize the support of the first gas foot unit (5) and the second gas foot unit (7) to space manipulator.
3. Six-freedom-degree space mechanical arm according to claim 2 ground microgravity equivalent experiment device, it is characterised in that: The spring assembly (11) includes spring upper mounting plate (111), spring lower installation board (112), four the linear guides (113), four A linear bearing (114) and four springs (115), four the linear guides (113) are distributed on spring upper mounting plate (111), often There are one springs (115) for set on a the linear guide (113), and each the linear guide (113) is sleeved on a linear bearing (114) In, four linear bearings (114) are mounted on spring lower installation board (112);The spring assembly (11) under spring by installing Plate (112) is mounted on upper rack posts mounting plate (101).
4. Six-freedom-degree space mechanical arm according to claim 1 ground microgravity equivalent experiment device, it is characterised in that: The holder (4) is U-shaped laminated structure, is used for the joints fixed space mechanical arm b3.
5. Six-freedom-degree space mechanical arm according to claim 1 ground microgravity equivalent experiment device, it is characterised in that: The roll wheel assembly (6) includes rolling wheel support (61), idler wheel mounting plate (62), idler wheel (63) and snap ring (64);
The rolling wheel support (61) is the c-type frame on the second gas foot unit (7), and opening diameter is more than space mechanism The diameter of brachium armed lever;Idler wheel mounting plate (62) is vertically mounted on rolling wheel support (61), the processing of idler wheel mounting plate (62) upper end At the semi-circular arc to match with Snap ring diameter, and idler wheel (63) is installed on the semi-circular arc, in snap ring (64) Guide rail baltimore groove is machined on the excircle being in contact with the semi-circular arc, when snap ring (64) is mounted on idler wheel mounting plate (62) when on, the idler wheel is located in the guide rail baltimore groove.
6. using the experimental method of Six-freedom-degree space mechanical arm ground microgravity equivalent experiment device described in claim 1, It is characterized by comprising following steps:
Step 1:The rotation output end in the joints space manipulator b1 is connect with the bearing (12) of bearing arrangement A, by bearing arrangement The bearing block (11) of A is fixed on supporting rack, is installed on analog satellite load mounting plate (2) related to space manipulator movement Sensor and satellite equipment;The shell in the joints space manipulator b3 is fixed on the holder (4) of holder gas foot unit B, it will Space manipulator galianconism bar end is inserted on the roll wheel assembly (6) for being installed on idler wheel gas foot unit C, and idler wheel gas foot unit C It is located proximate to the joints space manipulator b5 and the joints b6;
Step 2:The configuration for adjusting bearing arrangement A clump weights, makes the center of gravity of bearing arrangement A be located at shaft (13) on bearing (12) Center;
Step 3:The height for adjusting the first gas foot unit 5 and the second gas foot unit 7 makes holder gas foot unit B and idler wheel gas fill enough It is identical to geostatic pressure to set C, and keeps horizontal using the long armed lever of level measurement space manipulator and galianconism bar;
Step 4:It is that space manipulator sends instruction by space manipulator control system, makes each joint motions of space manipulator, Realize the ground microgravity equivalent experiment of space manipulator whole six-freedom degrees under the microgravity environment of ground;
Step 5:The motion state in each joint of space manipulator is acquired, the instruction with transmission is compared, to judge space Normally whether each joint of mechanical arm work under the microgravity environment of ground, if normally, entering step six, otherwise record movement The state joint inconsistent with the instruction sent, the ground of space manipulator whole six-freedom degrees under the microgravity environment of ground Microgravity equivalent experiment terminates;
Step 6:Acquisition is mounted on the information of the sensor and satellite equipment on analog satellite load mounting plate, and described in judgement Whether the work of sensor and satellite equipment is normal, if abnormal, records abnormal information, space manipulator is micro- on ground The ground microgravity equivalent experiment of whole six-freedom degrees terminates under gravity environment;Otherwise, space manipulator is in ground microgravity Whole six-freedom degree equivalent movements are normal under environment, and ground microgravity equivalent experiment terminates.
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