CN108394571A - The test platform and measurement method of flexible surface adherency movement under simulated microgravity - Google Patents
The test platform and measurement method of flexible surface adherency movement under simulated microgravity Download PDFInfo
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- CN108394571A CN108394571A CN201810118313.5A CN201810118313A CN108394571A CN 108394571 A CN108394571 A CN 108394571A CN 201810118313 A CN201810118313 A CN 201810118313A CN 108394571 A CN108394571 A CN 108394571A
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- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
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Abstract
The test platform and measurement method of flexible surface adherency movement, belong to robot field under simulated microgravity.The flexible surface of the system（11）Test contact reverse side uniformly post the resistance strain gage (9) in array distribution.The bending of flexible surface (11) can lead to resistance strain gage (9) resistance variations, resistance strain gage (9) increased resistance value, which is acquired, by sensing data acquisition system measures flexible surface (11) bending curvature indirectly, bond material flexible surface (11) elasticity modulus measures the moment of flexure and power of flexible surface at this (11) indirectly, by determining resistance strain gage (9) in flexible surface (11) plane distribution position, you can acquire the moment of flexure and force value everywhere in flexible surface.It is convenient that the configuration of the present invention is simple, motion principle are clear, movement is realized.
Description
Technical field
The invention belongs to robot technology application fields, and in particular to flexible surface adherency movement under a kind of simulated microgravity
Test platform and measurement method.
Background technology
Since the former Soviet Union in 1956 emits first artificial satellite, space flight skill is benefited from the life of the mankind more and more
The development of art.Space technology profoundly changes the life of the mankind, represents national science and technology strength and overall national strength, simul relation
To national economic interest and national defense safety, the space safety for also affecting countries in the world is seen.The Disciplinary Frontiers of space technology include
In-orbit service, survey of deep space etc., wherein in-orbit service refer to be completed in space to spacecraft event by people, robot or both collaboration
The spatial operation that barrier repairs, lengthens the life, Mission Capability is promoted is mainly included in rail assembly, In-flight measurement maintenance and logistics branch
Hold equal service roles.Robot for space applied to On-orbit servicing is the project in current robot research field forward position the most
One of.
Therefore, ground simulation microgravity environment carries out robot for space ground experiment research early period, exists to robot for space
Rail practical application is of great significance and practical value.It is especially following that robot is adhered to using space, such as satellite sun sail,
It is important replacing astronaut to complete when the surface adhesions such as film antenna, hull cell battle array, outer surface flexible cover sheet move operation
In-orbit maintenance task in terms of play and play an important roll.
Space microgravity environment is generally simulated using suspension method, Bubble-floating Method, water float glass process as far as possible both at home and abroad.It is directed at present
Analog form of the sufficient formula adherency robot under microgravity environment, mainly offsets the shadow of gravity by balloon suspension mode
It rings, carries out the observation robot motion on the horizontal plane of hard ground（National inventing patent：Dai Zhendong, Wang Zhongyuan, Sun Gongxun
Experimental system and ground experiment method number of patent application of the gecko-emulated robot under microgravity environment：
CN201510273695.5）.Applicant was once directed to imitative gecko robot for space posture in the flight course under microgravity and regulated and controled
It is studied with the problem in science for moment adherency of landing, it is proposed that the relevant experimental system and method flight attitude regulation and control and landed,
（National inventing patent：Yu Zhiwei, Dai Zhendong, Yang Bin, Ji Aihong, Wang Zhongyuan imitate the regulation and control of gecko robot for space posture with
Land experimental system and method number of patent application：CN201510096242.X）, but do not propose that really sufficient formula is viscous on flexible surface
The test method of attached movement.
So far, under ground simulation microgravity environment in flexible surface (such as satellite sun sail, film antenna, thin
Film battery battle array, satellite external surface flexible cover sheet) on sufficient formula adherency exercise test system not yet report.
Invention content
The purpose of the present invention is to provide one kind ground can under stimulated microgravity sufficient formula adherency movement in flexible table
The mechanics in face and performance testing system.
The test platform of flexible surface adherency movement and measurement method, feature exist under a kind of simulated microgravity
In：
The main structure of system includes platform base, support scale bar and roof supporting, and wherein platform base is horizontal positioned, support
Scale bar is perpendicularly fixed on platform base, and roof supporting is horizontally arranged and is fixed on support scale bar top；Support base one end
It fixes with roof supporting, is connected through the hinge between support base and flexible surface, angular transducer is coaxially fixed with hinge；It is flexible
The test contact reverse side on surface uniformly posts the resistance strain gage in array distribution, and micro-inertial navigation module is fixed on flexible surface
Bottom end；Micro-inertial navigation module, resistance strain gage, angular transducer pass through data/address bus with sensing data acquisition system respectively
Connection；Sensing data acquisition system is communicated with computer control terminal by data/address bus；X is to sliding shoe top and roof supporting
Between there is prismatic pair in X direction；X secures I fixed pulleys and II fixed pulleys to sliding shoe bottom end, I fixed pulleys and
II fixed pulleys keep identical height level；X is fixed on X on tripod to high-speed camera, and X is to high-speed camera along X-axis
It is directed at flexible surface；Y-direction high-speed camera is fixed on roof supporting, and Y-direction high-speed camera is perpendicular along Y-axis alignment flexible surface
Straight sided；Z-direction high-speed camera is fixed on Z-direction tripod, and Z-direction high-speed camera is directed at flexible surface horizontal side along Z axis；
X passes through data/address bus phase with computer control terminal respectively to high-speed camera, Y-direction high-speed camera and Z-direction high-speed camera
Even；Cord one end connects legged type robot main body, and the cord other end coils through II fixed pulleys and I fixed pulleys successively, even
Connect mass；Legged type robot main body is equipped with robot wireless communication module；Computer control terminal and host computer channel radio
It interrogates module to be connected, host computer wireless communication module and robot wireless communication module holding wireless telecommunications；Legged type robot main body
Tail portion connects tail；Light source is fixed on roof supporting bottom surface, and direction is directed at flexible surface and legged type robot main body.With such
It pushes away, cord one end connects shoulder strap, and the cord other end coils through II fixed pulleys and I fixed pulleys successively, connects mass；The back of the body
Band can be mounted on four-footed adherency animal, carry out mechanics and performance testing that animal is adhered to about four-footed.
The measurement method of flexible surface adherency movement under the simulated microgravity, it is characterised in that including following procedure：
Step 1, the four-footed adherency animal (such as gecko-emulated robot or biological gecko) by legged type robot main body or installation shoulder strap
Be suspended on cord one end, the cord other end ties up to mass, mass and testee are equal in weight, constitute simulated microgravity
Environmental condition；
Step 2 makes X be directed at testee and its area of observation coverage to high-speed camera, Y-direction high-speed camera, Z-direction high-speed camera
Domain, by computer control terminal high-speed record testee in X, Y and Z-motion video image information；
Step 3, computer control terminal transmit a signal to robot wireless communication module by host computer wireless communication module, control
The forms of motion of the four limbs and tail of legged type robot main body processed；
Uniformly distributed identical resistance strain gage, forms m n array above step 4, flexible surface, and the bending of flexible surface can cause
Resistance strain gage resistance variations obtain resistance strain gage increased resistance value and flexible surface using traditional experimental calibration method
Bending curvature relationship, therefore resistance strain gage increased resistance value is acquired by sensing data acquisition system and measures flexible surface indirectly
Bending curvature, while it being based on mechanics of materials model and calculation formula, it is calculated indirectly in conjunction with the elasticity modulus of compliant surface material
The moment of flexure and power of flexible surface at this, by determining resistance strain gage in flexible surface plane distribution position, you can acquire soft
Moment of flexure and force value everywhere in property surface；
Step 5 can cause flexible surface to swing since adherency moves, and the setting angle sensor at hinge passes through sensing data
Acquisition system can detect flexible surface angle of oscillation angle value；The micro-inertial navigation module of flexible surface bottom end obtains swing process simultaneously
In acceleration value and terminal angle angle, by sensing data acquisition system acquire after, be computer controlled terminal reading；
Step 6, by X to high-speed camera, Y-direction high-speed camera, Z-direction high-speed camera, computer control terminal and sensing
Data collecting system, have recorded legged type robot main body or four-footed adherency animal multi-motion gait and flexible surface moment of flexure and
Power, oscillating acceleration and swing angle can carry out the adherency exercise test under template microgravity；
Step 7, the moment of flexure and power of the flexible surface obtained by sensing data acquisition system, oscillating acceleration and swing angle are made
For motion-sensing feedback data, corresponding movement gait data is taken by computer control terminal, regulates and controls legged type robot master
The quadruped locomotion form and tail of body swing mode, reach the control targe for keeping flexible surface chatter amplitude small.
The test platform and measurement method of flexible surface adherency movement, can be applied to observation four under the simulated microgravity
The image recording and flexible surface moment of flexure and power, oscillating acceleration and pendulum of forms of motion of the foot adherency animal under simulated microgravity
Dynamic angular relationship；Flexible surface moment of flexure and power, oscillating acceleration and the swing angle feedback that may be based on acquisition, to regulate and control sufficient formula
The quadruped locomotion form and tail of robot body swing mode, under simulated microgravity to reach flexible surface chatter amplitude small
Control targe, contribute to future space adherency robot flexible surface (such as satellite sun sail, film day under microgravity environment
Line, hull cell battle array, satellite external surface flexible cover sheet) on adherency locomotive regulation technological reserve and ground simulation demonstration.
The present invention has the following advantages compared with prior art：
1, the present invention adheres to performance test demand when moving for microgravity environment down space legged type robot in flexible surface,
Flexible surface of the suspension with more heat transfer agent devices is dexterously devised, testee is balanced using suspended counterweight mode, is adopted
Synchronized tracking, acquisition and the processing data that mechanics and behavior are carried out with 3 d image and video acquisition device, have been filled up in the field
The blank of test method.
2, it is convenient that structure of the invention is simple, motion principle is clear, movement is realized, meets space legged type robot and four-footed
Performance evaluation requirement of the animal when flexible surface is walked is adhered to, the space foot formula machine under ground simulation microgravity environment is improved
Experiment test performance of the device people in flexible surface adherency movement.
3, the present invention has recorded the video image of quadruped robot and four-footed adherency animal, flexible surface swing angle letter
Number, flexible surface deformation and by force signal, flexible surface end acceleration and attitude signal, be that quadruped robot and four-footed adhere to
The further experiment analysis of animal provides sufficient sensing data, is to be adhered in flexible surface under robot for space microgravity environment
Movenent performance test provides beneficial way and good experimental facilities.
For this purpose, we bioadhesion movement it is bionical on the basis of, carry out ground simulation microgravity environment under, in flexible table
Four-footed adherency exercise testing is carried out on face and four-footed adheres to animal（Such as gecko）Movement mechanism research, at home and abroad belong to prediction
Journal of Sex Research, the test platform of flexible surface adherency movement will have certain innovation with measurement method under the simulated microgravity of design
Property, the mechanics of the four-footed adherency movement under the ground simulation microgravity environment of development on flexible surface and performance testing research,
The research of its related scientific issues is estimated can to obtain achievement leading in the world.
Description of the drawings
Fig. 1 is the test platform block diagram I of flexible surface adherency movement under simulated microgravity of the present invention；
Fig. 2 is the test platform block diagram II of flexible surface adherency movement under simulated microgravity of the present invention.
Above-mentioned figure label title：1, X is to high-speed camera, 2, X to tripod, 3, Z-direction high-speed camera, 4, Z-direction three
Tripod, 5, host computer wireless communication module, 6, computer control terminal, 7, sensing data acquisition system, 8, micro-inertial navigation mould
Block, 9, resistance strain gage, 10, support scale bar, 11, flexible surface, 12, hinge, 13, angular transducer, 14, support base, 15,
Y-direction high-speed camera, 16, roof supporting, 17, light source, 18, X to sliding shoe, 19, I fixed pulleys, 20, II fixed pulleys, 21,
Mass, 22, cord, 23, legged type robot main body, 24, robot wireless communication module, 25, tail, 26, platform base,
27, shoulder strap, 28, four-footed adhere to animal.
X is to for flexible surface normal orientation in figure；Y-direction is for gravity direction；Z-direction is for horizontal direction.
Specific implementation mode
Invention is further described in detail in the following with reference to the drawings and specific embodiments：
In conjunction with Fig. 1, the present embodiment is a kind of test platform of flexible surface adherency movement under simulated microgravity, including X at a high speed
Video camera 1, X are whole to tripod 2, Z-direction high-speed camera 3, Z-direction tripod 4, host computer wireless communication module 5, computer control
End 6, sensing data acquisition system 7, micro-inertial navigation module 8, resistance strain gage 9, support scale bar 10, flexible surface 11, hinge
Chain 12, angular transducer 13, support base 14, Y-direction high-speed camera 15, roof supporting 16, light source 17, X are to sliding shoe 18, I
Fixed pulley 19, II fixed pulleys 20, mass 21, cord 22, legged type robot main body 23, robot wireless communication module 24,
Tail 25, platform base 26 form.
As shown in Figure 1, the test platform that flexible surface adherency moves under a kind of simulated microgravity, feature exist
In：The main structure of system includes that platform base 26, support scale bar 10 and roof supporting 16, wherein 26 level of platform base are put
It sets, support scale bar 10 is perpendicularly fixed on platform base 26, and roof supporting 16 is horizontal positioned and is fixed on support scale bar 10
Top；14 one end of support base is fixed with roof supporting 16, is connected by hinge 12 between support base 14 and flexible surface 11, angle
Sensor 13 is coaxial fixed with hinge 12；The test contact reverse side of flexible surface 11 uniformly posts the resistance-strain in array distribution
Piece 9, micro-inertial navigation module 8 are fixed on the bottom end of flexible surface 11；Micro-inertial navigation module 8, resistance strain gage 9, angle pass
Sensor 13 is connect with sensing data acquisition system 7 by data/address bus respectively；Sensing data acquisition system 7 and computer control are whole
End 6 is communicated by data/address bus；X is to having prismatic pair in X direction between 18 top of sliding shoe and roof supporting 16；X is to cunning
18 bottom end of motion block secures I fixed pulleys 19 and II fixed pulleys 20, and I fixed pulleys 19 and II fixed pulleys 20 keep identical water
Flat height；X is fixed on X on tripod 2 to high-speed camera 1, and X is directed at flexible surface 11 to high-speed camera 1 along X-axis； Y
It is fixed on roof supporting 16 to high-speed camera 14, Y-direction high-speed camera 14 is along 11 vertical side of Y-axis alignment flexible surface；Z
It is fixed on Z-direction tripod 4 to high-speed camera 3, Z-direction high-speed camera 3 is directed at 11 horizontal side of flexible surface along Z axis；X to
High-speed camera 1, Y-direction high-speed camera 14 and Z-direction high-speed camera 3 pass through data/address bus with computer control terminal 6 respectively
It is connected；22 one end of cord connects legged type robot main body 23, and 22 other end of cord coils through II fixed pulleys 20 and No. I successively
Fixed pulley 19 connects mass 21；Legged type robot main body 23 is equipped with robot wireless communication module 24；Computer controls
Terminal 6 is connected with host computer wireless communication module 5, and host computer wireless communication module 5 is kept with robot wireless communication module 24
Wireless telecommunications；23 tail portion of legged type robot main body connects tail 25；Light source 17 is fixed on 16 bottom surface of roof supporting, and direction alignment is soft
Property surface 11 and legged type robot main body 23.
In conjunction with Fig. 2, the present embodiment be a kind of simulated microgravity under flexible surface adherency movement test platform, including X to
High-speed camera 1, X are to tripod 2, Z-direction high-speed camera 3, Z-direction tripod 4, host computer wireless communication module 5, computer control
Terminal 6 processed, sensing data acquisition system 7, micro-inertial navigation module 8, resistance strain gage 9, support scale bar 10, flexible surface
11, hinge 12, angular transducer 13, support base 14, Y-direction high-speed camera 15, roof supporting 16, light source 17, X are to sliding shoe
18, I fixed pulleys 19, II fixed pulleys 20, mass 21, cord 22, platform base 26, shoulder strap 27, four-footed adhere to animal 28
Composition.
As shown in Fig. 2, flexible surface adherency moves under a kind of simulated microgravity test platform and measurement method,
It is characterized in that：The main structure of system includes platform base 26, support scale bar 10 and roof supporting 16, wherein platform base
26 is horizontal positioned, and support scale bar 10 is perpendicularly fixed on platform base 26, and roof supporting 16 is horizontal positioned and is fixed on support
10 top of scale bar；14 one end of support base is fixed with roof supporting 16, passes through hinge 12 between support base 14 and flexible surface 11
Connection, angular transducer 13 are coaxial fixed with hinge 12；The test contact reverse side of flexible surface 11 is uniformly posted in array distribution
Resistance strain gage 9, micro-inertial navigation module 8 is fixed on the bottom end of flexible surface 11；Micro-inertial navigation module 8, resistance-strain
Piece 9, angular transducer 13 are connect with sensing data acquisition system 7 by data/address bus respectively；Sensing data acquisition system 7 and meter
Calculation machine control terminal 6 is communicated by data/address bus；X is to having shifting in X direction between 18 top of sliding shoe and roof supporting 16
Dynamic pair；X secures I fixed pulleys 19 and II fixed pulleys 20, I fixed pulleys 19 and II fixed pulleys 20 to 18 bottom end of sliding shoe
Keep identical height level；X is fixed on X on tripod 2 to high-speed camera 1, and X is to high-speed camera 1 along X-axis to quasi-flexible
Surface 11；Y-direction high-speed camera 14 is fixed on roof supporting 16, and Y-direction high-speed camera 14 is directed at flexible surface 11 along Y-axis
Vertical side；Z-direction high-speed camera 3 is fixed on Z-direction tripod 4, and Z-direction high-speed camera 3 is directed at 11 water of flexible surface along Z axis
Plane side；X is logical with computer control terminal 6 respectively to high-speed camera 1, Y-direction high-speed camera 14 and Z-direction high-speed camera 3
Data/address bus is crossed to be connected；22 one end of cord connects shoulder strap 27, and 22 other end of cord coils through II fixed pulleys 20 and No. I successively
Fixed pulley 19 connects mass 21；Shoulder strap 27 is mounted on four-footed adherency animal 28；Light source 17 is fixed on 16 bottom of roof supporting
Face, direction is directed at flexible surface 11 and four-footed adheres to animal 28.
The measurement method of flexible surface adherency movement under the simulated microgravity, it is characterised in that including following procedure：
The four-footed of legged type robot main body 23 or installation shoulder strap 27 is adhered to animal 28 (such as gecko-emulated robot or life by step 1
Object gecko) be suspended on 22 one end of cord, 22 other end of cord ties up to mass 21, mass 21 and testee are equal in weight,
Constitute stimulated microgravity condition；
Step 2 makes X be directed at testee and its sight to high-speed camera 1, Y-direction high-speed camera 14, Z-direction high-speed camera 3
Region is surveyed, by 6 high-speed record testee of computer control terminal in X, Y and Z-motion video image information；
Step 3, computer control terminal 6 can control the four limbs of legged type robot main body 23 by host computer wireless communication module 5
With the forms of motion of tail 25；
Uniformly distributed identical resistance strain gage 9 has above for step 4, flexible surface 11（m×n）Several, the bending of flexible surface 11
Can lead to 9 resistance variations of resistance strain gage, using traditional experimental calibration method, obtain 9 increased resistance value of resistance strain gage and
11 bending curvature relationship of flexible surface, thus by sensing data acquisition system 7 acquire resistance strain gage 9 increased resistance value can between
It connects and measures 11 bending curvature of flexible surface, while being based on mechanics of materials model and calculation formula, in conjunction with 11 material of flexible surface
Elasticity modulus can calculate the moment of flexure and power of flexible surface 11 at this indirectly, by determining resistance strain gage 9 in flexible table
11 plane distribution position of face, you can acquire moment of flexure and force value everywhere in flexible surface 11；
Step 5 can cause flexible surface 11 to swing since adherency moves, and the setting angle sensor 13 at hinge 12 passes through biography
Sense data collecting system 7 can detect 11 angle of oscillation angle value of flexible surface；The micro-inertial navigation module 8 of 11 bottom end of flexible surface simultaneously
The acceleration value and terminal angle angle in swing process are obtained, after being acquired by sensing data acquisition system 7, by computer control
Terminal 6 processed is read；
Step 6, by X to high-speed camera 1, Y-direction high-speed camera 14, Z-direction high-speed camera 3,6 and of computer control terminal
Sensing data acquisition system 7 has recorded legged type robot main body 23 or four-footed adherency 28 multi-motion gait of animal and flexible table
The moment of flexure and power in face 11, oscillating acceleration and swing angle can carry out the adherency exercise test under template microgravity；
Step 7, the moment of flexure and power of flexible surface 11 obtained by sensing data acquisition system 7, oscillating acceleration and angle of oscillation
Degree is used as motion-sensing feedback data, and corresponding movement gait data is taken by computer control terminal 6, regulates and controls sufficient formula machine
The quadruped locomotion form and tail 25 of human agent 23 swings mode, reaches the control mesh for keeping 11 chatter amplitude of flexible surface small
Mark.
The test platform and measurement method of flexible surface adherency movement, can be applied to observation four under the simulated microgravity
The image recording and 11 moment of flexure of flexible surface and power, oscillating acceleration of forms of motion of the foot adherency animal 28 under simulated microgravity
With swing angle relationship；11 moment of flexure of flexible surface and power, oscillating acceleration and the swing angle feedback that may be based on acquisition, to adjust
The quadruped locomotion form and tail 25 for controlling legged type robot main body 23 swing mode, reach flexible surface under simulated microgravity
The small control targe of 11 chatter amplitudes contributes to future space adherency robot flexible surface (such as satellite under microgravity environment
Solar sail, film antenna, hull cell battle array, satellite external surface flexible cover sheet) on adherency locomotive regulation technological reserve and ground
Face simulation demo.
Claims (4)
1. the test platform of flexible surface adherency movement under a kind of simulated microgravity, to legged type robot or four-footed adhere to animal into
Row experiment, it is characterised in that：
The test platform includes platform base（26）, support scale bar（10）With roof supporting (16)；Wherein platform base (26)
Horizontal positioned, support scale bar (10) is perpendicularly fixed on platform base (26), and roof supporting (16) is horizontal positioned and is fixed on
Support scale bar (10) top；
The test platform further includes support base (14) and flexible surface（11）；Wherein support base (14) one end and roof supporting (16)
Fixed, support base (14) other end is connected through the hinge with flexible surface (11) upper end, and hinged (12) axis and roof supporting
(16) parallel, flexible surface (11) lower end is free end；Above-mentioned hinge (12) is co-axially mounted angular transducer (13)；Above-mentioned flexibility
The test contact reverse side on surface (11) uniformly posts the resistance strain gage (9) in array distribution, above-mentioned flexible surface (11) bottom end
It is also equipped with micro-inertial navigation module (8)；Above-mentioned angular transducer (13), resistance strain gage (9) and micro-inertial navigation module (8)
It is connect respectively by data/address bus with sensing data acquisition system (7)；Sensing data acquisition system (7) and computer control terminal
(6) it is communicated by data/address bus；
The test platform further includes X to sliding shoe (18), I fixed pulleys (19), II fixed pulleys (20), cord (22), counterweight
Object (21) and wireless communication module (24)；Wherein X is installed on roof supporting (16) to sliding shoe (18), and X is pushed up to sliding shoe (18)
There is prismatic pair in X direction between end and roof supporting (16)；I fixed pulleys (19) are identical with II fixed pulleys (20) holding
Level height, they are fixed on X to sliding shoe (18) bottom end；Wireless communication module (24) is installed on legged type robot or adherency
With animal；Computer control terminal（6）Be connected with host computer wireless communication module (5), host computer wireless communication module (5) with
Robot wireless communication module (24) keeps wireless telecommunications；Cord (22) one end connection legged type robot main body (23) passes through the back of the body
Band connection adheres to animal (28), and the other end coils through II fixed pulleys (20) and I fixed pulleys (19) successively, connects mass
(21)；
The test platform further includes X to high-speed camera (1), Y-direction high-speed camera (15), Z-direction high-speed camera (3)；Wherein X
To high-speed camera (1) along X-axis alignment flexible surface (11), Y-direction high-speed camera (15) is along Y-axis alignment flexible surface (11)
Vertical side, Z-direction high-speed camera (3) are directed at flexible surface (11) horizontal side along Y-axis；X is high to high-speed camera (1), Y-direction
Fast video camera (15) and Z-direction high-speed camera (3) are connected with computer control terminal (6) by data/address bus respectively.
2. special using the test method of the test platform of flexible surface adherency movement under simulated microgravity described in claim 1
Sign is to include following procedure：
Step 1, by legged type robot main body (23) or installation shoulder strap（27）Four-footed adherency animal (28) be suspended on cord (22)
One end, cord (22) other end tie up to mass (21), and mass (21) and testee are equal in weight, and it is micro- heavy to constitute simulation
Force environment condition；
Step 2 makes X be directed at testee to high-speed camera (1), Y-direction high-speed camera (15), Z-direction high-speed camera (3)
And its observation area, believed in X, Y and Z-motion video image by computer control terminal (6) high-speed record testee
Breath；
Step 3, computer control terminal (6) transmit a signal to robot wireless telecommunications by host computer wireless communication module (5)
Module (24), the forms of motion of the four limbs and tail (25) of control legged type robot main body (23)；
Uniformly distributed identical resistance strain gage (9) in step 4, flexible surface (11), forms m n array, flexible surface (11) it is curved
The joint performance of quyi leads to resistance strain gage (9) resistance variations, and resistance strain gage (9) increased resistance value is acquired by sensing data acquisition system
Flexible surface (11) bending curvature is measured indirectly, and bond material flexible surface (11) elasticity modulus measures flexible surface at this indirectly
(11) moment of flexure and power, by determining resistance strain gage (9) in flexible surface (11) plane distribution position, you can acquire flexibility
Moment of flexure everywhere in surface and force value；
Step 5 can cause flexible surface (11) to swing since adherency moves, in hinge（12）Locate setting angle sensor（13）,
Pass through sensing data acquisition system（7）Detect flexible surface（11）Angle of oscillation angle value；Flexible surface simultaneously（11）The micro- of bottom end is used to
Property navigation module（8）The acceleration value and terminal angle angle in swing process are obtained, sensing data acquisition system is passed through（7）It adopts
After collection, it is computer controlled terminal（6）It reads；
Step 6 is controlled by X to high-speed camera (1), Y-direction high-speed camera (15), Z-direction high-speed camera (3), computer
Terminal（6）With sensing data acquisition system（7）, have recorded legged type robot main body（23）Or four-footed adheres to animal（28）It is a variety of
Move gait and flexible surface（11）Moment of flexure and power, oscillating acceleration and swing angle.
3. the test method that flexible surface adherency moves under simulated microgravity according to claim 2, it is characterised in that including
Following procedure：
Utilize the flexible surface acquired in step 6（11）Moment of flexure and power, oscillating acceleration and swing angle and robot master
Body（23）Or four-footed adheres to animal（28）Multi-motion gait video carries out the adherency exercise test under simulated microgravity.
4. the test method that flexible surface adherency moves under simulated microgravity according to claim 2, it is characterised in that including
Following procedure：
Utilize the flexible surface acquired in step 6（11）Moment of flexure and power, oscillating acceleration and swing angle, as motion-sensing
Feedback data, by computer control terminal（8）Corresponding movement gait data is taken, legged type robot main body is regulated and controled（23）'s
Quadruped locomotion form and tail（25）Swing mode reaches holding flexible surface（11）The small control targe of chatter amplitude.
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| CN201810118313.5A CN108394571B (en) | 2018-02-06 | 2018-02-06 | Test platform and measurement method for simulating adhesion motion of flexible surface under microgravity |
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| CN201810118313.5A CN108394571B (en) | 2018-02-06 | 2018-02-06 | Test platform and measurement method for simulating adhesion motion of flexible surface under microgravity |
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| CN108394571B CN108394571B (en) | 2021-02-12 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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