CN107160377B - Device and method for testing ground three-dimensional space motion of space manipulator - Google Patents
Device and method for testing ground three-dimensional space motion of space manipulator Download PDFInfo
- Publication number
- CN107160377B CN107160377B CN201710422116.8A CN201710422116A CN107160377B CN 107160377 B CN107160377 B CN 107160377B CN 201710422116 A CN201710422116 A CN 201710422116A CN 107160377 B CN107160377 B CN 107160377B
- Authority
- CN
- China
- Prior art keywords
- space manipulator
- space
- sliding
- manipulator
- guide rails
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0018—Bases fixed on ceiling, i.e. upside down manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a device and a method for testing ground three-dimensional space motion of a space manipulator, wherein the device comprises two longitudinal guide rails, at least two transverse guide rails, sliding blocks, fixed pulleys, suspension wires, balancing weights and sliding rings, wherein the number of the sliding blocks is the same as that of the transverse guide rails; two longitudinal guide rails are respectively arranged on the frame, two ends of each transverse guide rail are respectively connected with one longitudinal guide rail in a sliding manner, a sliding block is arranged on each transverse guide rail, a fixed pulley is arranged on each sliding block, a suspension wire is arranged on each fixed pulley, and two ends of the suspension wire are respectively connected with a balancing weight and a sliding ring. The gravity compensation adopted by the invention is passive compensation, and active power intervention is not needed, so that other driving devices such as a motor and the like are not needed, and the cost and the maintenance cost are lower; the three-dimensional multi-axis linkage test can be realized, and the gravity compensation effect can reach more than 90%; the installation and debugging are simple and convenient, the operation is easy, and the experimental operation requirements of the space manipulator can be met.
Description
Technical Field
The invention relates to a device and a method for testing ground three-dimensional space motion of a space manipulator, and belongs to the technical field of space motion testing.
Background
With the progress of the technology, the activities of human beings are continuously expanded to the space, and various countries are researching the space robot on-orbit service technology which aims at satellite maintenance, life extension and space garbage removal by using a space robot as a means to make great progress. However, under the influence of the ground gravity environment, the ground three-dimensional space motion test of the space manipulator is always a key problem which troubles the research and development of the manipulator. The problem is mainly manifested in that: because the space manipulator is designed for a space on-orbit microgravity environment, partial joint driving torque of the space manipulator is insufficient to overcome gravity torque under the condition of no auxiliary supporting equipment, and three-dimensional space free motion under the ground condition cannot be realized.
At present, a test system for simulating a space microgravity environment on the ground mainly comprises five types, namely a suspension system, a free falling body system, a water floating system, an air floating system, an auxiliary parallelogram fixed mass center and a spring connection mixing system. The free falling body system (adopting a microgravity tower) and the water floating system generally have the problems of higher cost and maintenance cost, the former also needs to ensure the sealing property of the system during the experiment, and the latter has good effect of compensating the gravity, but has short action time and is not suitable for the experiment operation of the space manipulator; the gravity compensation effect of the air floatation system is good, but the space manipulator can only move in an air floatation plane, and the three-dimensional space multi-axis linkage test cannot be realized; the technology of a mixing method for assisting the connection of the fixed mass center and the spring of the parallelogram is not mature, and the experimental operation requirements of the space manipulator are difficult to meet.
Disclosure of Invention
The invention provides a device and a method for testing ground three-dimensional space motion of a space manipulator, which are used for solving the problems that the existing space manipulator has higher cost and maintenance cost in the process of testing the ground three-dimensional space motion, can not realize three-dimensional space multi-axis linkage test and is difficult to meet the experimental operation requirement of the space manipulator, and the technical scheme adopted by the invention is as follows:
a three-dimensional space motion testing device for the ground of a space manipulator comprises a rack and a base, wherein the base is arranged on the rack and used for installing the space manipulator, and the device further comprises: the device comprises two longitudinal guide rails, at least two transverse guide rails, sliding blocks, fixed pulleys, suspension wires, balancing weights and sliding rings, wherein the number of the sliding blocks is the same as that of the transverse guide rails; two longitudinal guide rails are respectively arranged on the frame, two ends of each transverse guide rail are respectively connected with one longitudinal guide rail in a sliding manner, a sliding block is arranged on each transverse guide rail, a fixed pulley is arranged on each sliding block, a suspension wire is arranged on each fixed pulley, and two ends of the suspension wire are respectively connected with a balancing weight and a sliding ring.
A method for testing three-dimensional space motion of a ground of a space manipulator comprises the following steps:
the space manipulator is stretched and sleeved on a manipulator rod of the space manipulator through a sliding ring so as to enable the space manipulator to be in a vertical hoisting state;
adjusting the mass of the balancing weight hung by each section of the hanging wire to be matched with the mass of the space manipulator of the corresponding section;
and giving a motion track of the space manipulator and starting a joint of the space manipulator to realize free motion of the space manipulator in a three-dimensional space under a gravity compensation state.
The invention can produce the following beneficial effects:
1. the gravity compensation of the motion test system is passive compensation, and active power intervention is not needed, so that other driving devices such as a motor and the like are not needed, and the cost and the maintenance cost are lower;
2. compared with the traditional active compensation system, the motion test system can realize the multi-axis linkage test in the three-dimensional space, and the gravity compensation effect can reach more than 90%;
3. the motion test system is simple and convenient to install and debug and easy to operate, and can meet the experimental operation requirements of the space manipulator.
Drawings
Fig. 1 is a schematic structural diagram of a three-dimensional spatial movement testing device for a space manipulator ground according to the present invention.
Fig. 2 is a schematic view of the connection of the slip ring on the arm of the space manipulator according to the first embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the ground three-dimensional spatial motion testing apparatus for the space manipulator provided in this embodiment includes a frame 1, a base 2, two longitudinal rails 4, at least two transverse rails 5, as well as sliders 6, fixed pulleys 7, suspension wires 8, a counterweight 9, and a slip ring 10, which are in the same number as the transverse rails 5; the base 2 is arranged on the rack 1 and used for installing the space manipulator 3, the two longitudinal guide rails 4 are respectively arranged on the rack 1, two ends of each transverse guide rail 5 are respectively connected with one longitudinal guide rail 4 in a sliding mode, a sliding block 6 is arranged on each transverse guide rail 5, a fixed pulley 7 is arranged on each sliding block 6, a suspension wire 8 is arranged on each fixed pulley 7, and two ends of each suspension wire 8 are respectively connected with a balancing weight 9 and a sliding ring 10.
Optionally, the two longitudinal guide rails 4 are both cylinders with linearity less than 0.05 per thousand.
Alternatively, the parallelism of the two longitudinal rails 4 is better than 1 arc minute.
Optionally, two ends of each transverse guide rail 5 are respectively sleeved on one longitudinal guide rail 4 through linear bearings.
Optionally, each transverse guide 5 is a ball sliding guide.
Optionally, the space manipulator 3 is fixed to the base 2 of the gantry 1 by a mounting flange.
The specific embodiment further provides a testing method based on the device for testing the ground three-dimensional space motion of the space manipulator, which comprises the following steps:
step 1, extending a space manipulator 3, and sleeving the space manipulator on an arm rod of the space manipulator 3 through a slip ring 10 to enable the space manipulator 3 to be in a vertical hoisting state;
and 3, giving a motion track of the space manipulator 3 and starting a joint of the space manipulator 3 to realize free motion of the space manipulator 3 in a three-dimensional space under a gravity compensation state.
The following describes in detail the device and method for testing the three-dimensional spatial movement of the ground of the space manipulator according to the present invention with specific embodiments.
Example one
Referring to fig. 1 to 2, the frame 1 of the three-dimensional space motion testing system may have a frame structure, and the parts are connected by screws, so that the frame is easy to manufacture.
The two longitudinal guide rails 4 are polished cylinders, the linearity is less than 0.05 thousandth, and the parallelism of the two longitudinal guide rails 4 is better than 1 arc minute; the linear bearings are sleeved on the cylinders of each longitudinal guide rail 4, so that the sliding friction coefficient is less than one thousandth.
Two ends of each transverse guide rail 5 are respectively installed on a linear bearing of one longitudinal guide rail 4 through screws, so that the transverse guide rails 5 can move along the longitudinal direction, and the transverse guide rails 5 adopt THK ball sliding guide rails.
Each transverse guide rail 5 is provided with a slide block 6 which can freely move on the transverse guide rail 5, and the sliding friction coefficient is less than one thousandth.
A fixed pulley 7 is arranged below each sliding block 6, a suspension wire 8 is arranged on each fixed pulley 7, and two ends of each suspension wire 8 are respectively connected with a balancing weight 9 and a sliding ring 10 on the space manipulator 3; the slip ring 10 is free to rotate around the arm of the space manipulator 3.
When the three-dimensional space motion test is carried out, the mounting flange of the space manipulator 3 is fixed on the base 2 of the frame 1 through screws. When the space manipulator 3 is completely unfolded, the two arms of the space manipulator are respectively hung on the fixed pulley 7 through the sliding ring 10, and the gravity borne by the space manipulator 3 is balanced through the balancing weight 9.
During testing, a section of space track is planned (whether collision interference occurs or not is checked), a joint driving motor of the space manipulator 3 is started, and joints are controlled to complete three-dimensional space multi-joint linkage testing according to the planned track so as to check the control performance of the space manipulator 3.
By adopting the device and the method for testing the ground three-dimensional space motion of the space manipulator, the gravity compensation is passive compensation, and active force intervention is not needed, so that other driving devices such as a motor and the like do not need to be configured, and the cost and the maintenance cost are lower; the three-dimensional multi-axis linkage test can be realized, and the gravity compensation effect can reach more than 90%; the installation and debugging are simple and convenient, the operation is easy, and the experimental operation requirements of the space manipulator can be met.
The above description is only a preferred embodiment of the present invention, and these embodiments are based on different implementations of the present invention, and the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. The utility model provides a space manipulator ground three-dimensional space motion testing arrangement, includes frame (1) and base (2), and base (2) set up in frame (1) and are used for installing space manipulator (3), its characterized in that, the device still includes: the device comprises two longitudinal guide rails (4), at least two transverse guide rails (5), sliding blocks (6), fixed pulleys (7), suspension wires (8), balancing weights (9) and sliding rings (10), wherein the number of the sliding blocks (6) is the same as that of the transverse guide rails (5); the two longitudinal guide rails (4) are respectively arranged on the rack (1), two ends of each transverse guide rail (5) are respectively connected with one longitudinal guide rail (4) in a sliding manner, a sliding block (6) is arranged on each transverse guide rail (5), a fixed pulley (7) is arranged on each sliding block (6), a suspension wire (8) is arranged on each fixed pulley (7), and two ends of each suspension wire (8) are respectively connected with a balancing weight (9) and a sliding ring (10); the space manipulator (3) is fixed on the base (2) of the rack (1) through a mounting flange;
the test method comprises the following steps:
the space manipulator (3) is stretched and sleeved on a manipulator rod of the space manipulator (3) through a sliding ring (10) so that the space manipulator (3) is in a vertical hoisting state;
adjusting the mass of the balancing weight (9) hung by each section of the hanging wire (8) to be matched with the mass of the space manipulator (3) of the corresponding section;
and giving a motion track of the space manipulator (3) and starting a joint of the space manipulator (3) to realize free motion of the space manipulator (3) in a three-dimensional space under a gravity compensation state.
2. Device according to claim 1, characterized in that both longitudinal guides (4) are cylindrical with a linearity of less than 0.05 thousandths.
3. Device according to claim 1, characterized in that the parallelism of the two longitudinal guides (4) is better than 1 arc minute.
4. A device according to any one of claims 1 to 3, characterized in that each transverse rail (5) is fitted at both ends to a longitudinal rail (4) by means of a linear bearing.
5. Device according to claim 4, characterized in that each transverse guide (5) is a ball slide guide.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710422116.8A CN107160377B (en) | 2017-06-07 | 2017-06-07 | Device and method for testing ground three-dimensional space motion of space manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710422116.8A CN107160377B (en) | 2017-06-07 | 2017-06-07 | Device and method for testing ground three-dimensional space motion of space manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107160377A CN107160377A (en) | 2017-09-15 |
| CN107160377B true CN107160377B (en) | 2020-05-08 |
Family
ID=59824821
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710422116.8A Active CN107160377B (en) | 2017-06-07 | 2017-06-07 | Device and method for testing ground three-dimensional space motion of space manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107160377B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109115476A (en) * | 2018-07-13 | 2019-01-01 | 哈尔滨工业大学（深圳） | A kind of test macro and its method of flexible mechanical arm |
| CN111358659B (en) * | 2018-12-25 | 2022-03-08 | 沈阳新松机器人自动化股份有限公司 | Robot power-assisted control method and system and lower limb rehabilitation robot |
| 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 |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL8801706A (en) * | 1988-07-06 | 1990-02-01 | Ccm Beheer Bv | DEVICE FOR SIMULATING A MICRO-GRAVITY STATE. |
| CN103192999A (en) * | 2013-03-08 | 2013-07-10 | 北京航空航天大学 | Ground zero-gravity test device for small-space one-dimension extension mechanism |
| CN103662109B (en) * | 2013-11-20 | 2016-08-17 | 上海宇航系统工程研究所 | A kind of simulation microgravity on lunar surface device |
| CN103950042B (en) * | 2014-04-21 | 2016-04-20 | 哈尔滨工业大学 | Three revoliving arm series connection suspension type Six-freedom-degree space mechanical arm gravity-compensated devices |
| CN103979121B (en) * | 2014-04-30 | 2016-01-20 | 清华大学 | A kind of space manipulator analog machine containing harmonic drive |
-
2017
- 2017-06-07 CN CN201710422116.8A patent/CN107160377B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107160377A (en) | 2017-09-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107160377B (en) | Device and method for testing ground three-dimensional space motion of space manipulator | |
| WO2020098090A1 (en) | Robot walking and climbing along overhead line | |
| CN106742091B (en) | A kind of zero-g or microgravity suspension process and device with zero-frequency vibration isolation feature | |
| CN104175331B (en) | The micro-low gravitation bucking-out system of Joint Manipulator | |
| CN104385266A (en) | Seven-degree-of-freedom external skeleton type teleoperation main hand | |
| CN1963421A (en) | Testing apparatus for high temperature, superconducting, magnetic suspension and dynamic performance and testing method with the same | |
| CN104200715B (en) | A kind of spacecraft is diversion and approaches motion simulator | |
| CN103085992A (en) | Spatial microgravity simulation experiment system | |
| CN104118580A (en) | Device and method for simulating low gravity | |
| CN105551366A (en) | Ground microgravity equivalent experimental device and method of six-freedom-degree spatial mechanical arm | |
| EP3487724B1 (en) | An improved hanger for a suspended contact wire of a railway line and a power line comprising said hanger | |
| CN105539889B (en) | A kind of agravic simulated test bed of suspension type and its application method | |
| CN103398297A (en) | Tube bank detection robot | |
| CN103115774A (en) | Axial and radial combined loading bearing test device | |
| CN102779438A (en) | Flight simulated mechanical execution system simulating full-motion of airplane | |
| CN200975925Y (en) | Equipment for testing magnetic levitation dynamic performance of high-temperature superconduction block | |
| CN108535035B (en) | Zero-gravity suspension test device for cylindrical surface unfolding mechanism | |
| CN110254487A (en) | A kind of civil engineering pipeline putting vehicle | |
| Mostashfi et al. | A novel design of inspection robot for high-voltage power lines | |
| CN203019372U (en) | Intelligent detection robot for suspension insulator string | |
| CN216000499U (en) | Driving mechanism of rail hanging robot and rail hanging robot | |
| CN107322608B (en) | High-precision spraying robot convenient for wiring | |
| CN105931522B (en) | A kind of microgravity two-freedom is servo-actuated to balance hanging, transfer device | |
| CN107416060A (en) | One kind automation bar class climbing robot | |
| CN206804310U (en) | Platform is debugged by a kind of robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |