CN108394571B - Test platform and measurement method for simulating adhesion motion of flexible surface under microgravity - Google Patents
Test platform and measurement method for simulating adhesion motion of flexible surface under microgravity Download PDFInfo
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- CN108394571B CN108394571B CN201810118313.5A CN201810118313A CN108394571B CN 108394571 B CN108394571 B CN 108394571B CN 201810118313 A CN201810118313 A CN 201810118313A CN 108394571 B CN108394571 B CN 108394571B
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Abstract
A test platform and a measurement method for simulating the adhesion motion of a flexible surface under microgravity belong to the field of robots. The opposite side of the testing contact of the flexible surface (11) of the system is uniformly stuck with resistance strain gauges (9) distributed in an array. The bending of the flexible surface (11) can cause the resistance change of the resistance strain gauge (9), the bending curvature of the flexible surface (11) is indirectly measured by collecting the resistance change value of the resistance strain gauge (9) through a sensing data acquisition system, the bending moment and force of the flexible surface (11) are indirectly measured by combining the elastic modulus of the flexible surface (11) of the material, and the bending moment and force value of each position of the flexible surface can be obtained through the determined distribution position of the resistance strain gauge (9) on the plane of the flexible surface (11). The invention has simple structure, clear movement principle and convenient movement realization.
Description
Technical Field
The invention belongs to the field of application of robot technology, and particularly relates to a test platform and a measurement method for simulating adhesion motion of a flexible surface under microgravity.
Background
Since the first satellite in the soviet union launched 1956, human life has increasingly benefited from the development of aerospace technology. The aerospace technology profoundly changes the human life, represents national science and technology strength and comprehensive national strength, is related to national economic benefit and national defense safety, and also influences the space safety of all countries in the world. The advanced field of the aerospace technology includes on-orbit service, deep space exploration and the like, wherein the on-orbit service refers to space operation for completing spacecraft fault maintenance, service life prolonging and task execution capacity improvement in space through people, robots or the cooperation of the people and the robots, and mainly comprises service tasks such as on-orbit assembly, on-orbit detection and maintenance, logistics support and the like. The space robot applied to the space on-orbit service is one of the leading subjects in the robot research field at present.
Therefore, the ground simulation microgravity environment is used for developing the ground experimental research of the space robot in the early stage, and the method has important significance and practical value for the in-orbit practical application of the space robot. Particularly, in the future, when a space adhesion robot is adopted, for example, in the surface adhesion moving operation of a satellite solar sail, a film antenna, a film battery array, an outer surface flexible protection layer and the like, the space adhesion robot plays an important role in replacing an astronaut to complete an important on-orbit maintenance task.
The space microgravity environment is simulated as much as possible by adopting a suspension method, an air floatation method and a water floatation method at home and abroad. At present, aiming at a simulation mode of a foot type adhesion robot in a microgravity environment, the influence of gravity is counteracted mainly through a balloon suspension mode, and the motion of the robot is observed on a horizontal plane of a hard ground (the invention patent of the country: the experiment system and the ground experiment method of the gecko-like robot in the microgravity environment, namely the invention patent of the country: dongdong, wang yuan, sun gui. The applicant has proposed a related flight attitude control and landing experimental system and method aiming at the scientific problem research of attitude control and landing instant adhesion of a gecko-like space robot in the flight process under microgravity (national invention patent: Shu Shi Wei, David, Yang bin, Jiehong, Wang original points.) but does not propose a testing method of real sufficient adhesion movement on a flexible surface.
So far, a foot type adhesion motion test system on a flexible surface (such as a satellite solar sail, a thin film antenna, a thin film battery array and a satellite outer surface flexible protection layer) under a ground simulated microgravity environment has not been reported.
Disclosure of Invention
The invention aims to provide a mechanics and behavior testing system capable of simulating foot type adhesion motion on a flexible surface under a microgravity environment on the ground.
The test platform and the measurement method for simulating the adhesion motion of the flexible surface under microgravity are characterized in that:
the system main body structure comprises a platform base, a supporting scale rod and a supporting top plate, wherein the platform base is horizontally arranged, the supporting scale rod is vertically fixed on the platform base, and the supporting top plate is horizontally arranged and fixed at the top end of the supporting scale rod; one end of the supporting seat is fixed with the supporting top plate, the supporting seat is connected with the flexible surface through a hinge, and the angle sensor is coaxially fixed with the hinge; resistance strain gauges distributed in an array form are uniformly stuck on the reverse side of the testing contact of the flexible surface, and the micro inertial navigation module is fixed at the bottom end of the flexible surface; the micro-inertial navigation module, the resistance strain gauge and the angle sensor are respectively connected with the sensing data acquisition system through a data bus; the sensing data acquisition system is communicated with the computer control terminal through a data bus; a moving pair along the X direction is arranged between the top end of the X-direction sliding block and the supporting top plate; the bottom end of the X-direction sliding block is fixed with a No. I fixed pulley and a No. II fixed pulley, and the No. I fixed pulley and the No. II fixed pulley keep the same horizontal height; the X-direction high-speed camera is fixed on the X-direction tripod and is aligned to the flexible surface along the X axis; the Y-direction high-speed camera is fixed on the supporting top plate and is aligned to the vertical side surface of the flexible surface along the Y axis; the Z-direction high-speed camera is fixed on the Z-direction tripod and is aligned to the horizontal side surface of the flexible surface along the Z axis; the X-direction high-speed camera, the Y-direction high-speed camera and the Z-direction high-speed camera are respectively connected with the computer control terminal through data buses; one end of the thin rope is connected with the foot type robot main body, and the other end of the thin rope is sequentially wound through a No. II fixed pulley and a No. I fixed pulley and connected with a counterweight; the foot type robot main body is provided with a robot wireless communication module; the computer control terminal is connected with the upper computer wireless communication module, and the upper computer wireless communication module is in wireless communication with the robot wireless communication module; the tail of the foot type robot main body is connected with a tail; the light source is fixed on the bottom surface of the top supporting plate, and the direction of the light source is aligned with the flexible surface and the foot type robot main body. By analogy, one end of the thin rope is connected with the strap, and the other end of the thin rope is sequentially wound through the No. II fixed pulley and the No. I fixed pulley and connected with the counterweight; the harness can be mounted on a quadruped adherent animal and subjected to mechanical and behavioral testing with respect to the quadruped adherent animal.
The measurement method for simulating the adhesion movement of the flexible surface under microgravity is characterized by comprising the following steps of:
3, the computer control terminal sends a signal to the robot wireless communication module through the upper computer wireless communication module to control the movement forms of the four limbs and the tail of the foot type robot main body;
and 7, taking the bending moment and force, the swing acceleration and the swing angle of the flexible surface acquired by the sensing data acquisition system as motion sensing feedback data, and adopting corresponding motion gait data by the computer control terminal to regulate and control the four limb motion mode and the tail swing mode of the foot type robot main body so as to achieve the control target of keeping the vibration amplitude of the flexible surface small.
The test platform and the measurement method for simulating the flexible surface adhesion motion under the microgravity can be applied to observing the image record of the motion form of the quadruped adhesion animal under the simulated microgravity and the relation between the flexible surface bending moment and force, the swinging acceleration and the swinging angle; the four-limb motion form and tail swing mode of the foot type robot main body can be regulated and controlled based on the acquired flexible surface bending moment and force, swing acceleration and swing angle feedback, a control target with small flexible surface vibration amplitude is achieved under the condition of simulating microgravity, and adhesion motion regulation and control technology storage and ground simulation demonstration of the space adhesion robot on the flexible surface (such as a satellite solar sail, a thin film antenna, a thin film battery array and a satellite outer surface flexible protection layer) in the microgravity environment are facilitated in the future.
Compared with the prior art, the invention has the following advantages:
1. aiming at the performance test requirement of a space foot type robot in a microgravity environment during adhesion motion on a flexible surface, the invention ingeniously designs the flexible surface with a plurality of sensing information devices in a hanging mode, balances a measured object by adopting a hanging counterweight mode, adopts a 3-dimensional image and video acquisition device to synchronously track, acquire and process data of mechanics and behaviors, and fills the blank of the test method in the field.
2. The invention has simple structure, clear motion principle and convenient motion realization, meets the performance analysis requirement of the space foot type robot and the quadruped adhesion animal when walking on the flexible surface, and improves the experimental test performance of the space foot type robot in the adhesion motion on the flexible surface under the ground simulated microgravity environment.
3. The invention records the video image, the swing angle signal of the flexible surface, the deformation and stress signal of the flexible surface and the acceleration and attitude signal of the tail end of the flexible surface of the quadruped robot and the quadruped adhesive animal, provides sufficient sensing data for further experimental analysis of the quadruped robot and the quadruped adhesive animal, and provides a favorable path and good experimental equipment for the test of the adhesive motion performance of the flexible surface under the microgravity environment of the space robot.
Therefore, on the basis of bionics of biological adhesion movement, a quadruped adhesion movement experiment and a movement mechanism research of quadruped adhesion animals (such as geckos) are carried out on a flexible surface under a ground simulation microgravity environment, the experimental platform and the measuring method for simulating the adhesion movement of the flexible surface under the microgravity are prospective researches at home and abroad, and the designed testing platform and the designed measuring method for simulating the adhesion movement of the flexible surface under the microgravity environment have certain innovativeness.
Drawings
FIG. 1 is a block diagram I of a test platform for simulating the adhesion motion of a flexible surface under microgravity according to the present invention;
FIG. 2 is a block diagram II of the test platform for simulating the adhesion motion of a flexible surface under microgravity according to the present invention.
Number designations in the above figures: 1. the system comprises an X-direction high-speed camera, 2, an X-direction tripod, 3, a Z-direction high-speed camera, 4, a Z-direction tripod, 5, an upper computer wireless communication module, 6, a computer control terminal, 7, a sensing data acquisition system, 8, a micro-inertial navigation module, 9, a resistance strain gauge, 10, a support scale rod, 11, a flexible surface, 12, a hinge, 13, an angle sensor, 14, a support seat, 15, a Y-direction high-speed camera, 16, a support top plate, 17, a light source, 18, an X-direction sliding block, 19, a No. I fixed pulley, 20, a No. II fixed pulley, 21, a counterweight, 22, a string, 23, a foot type robot main body, 24, a robot wireless communication module, 25, a tail, 26, a platform base, 27, a back strap, 28 and a quadruped adhesive animal.
The X direction in the figure is the normal direction of the flexible surface; the Y direction is the direction corresponding to the gravity; the Z direction is for the horizontal direction.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
with reference to fig. 1, the present embodiment is a test platform for simulating adhesion motion of a flexible surface under microgravity, and the test platform includes an X-direction high-speed camera 1, an X-direction tripod 2, a Z-direction high-speed camera 3, a Z-direction tripod 4, an upper computer wireless communication module 5, a computer control terminal 6, a sensing data acquisition system 7, a micro inertial navigation module 8, a resistance strain gauge 9, a support scale rod 10, a flexible surface 11, a hinge 12, an angle sensor 13, a support base 14, a Y-direction high-speed camera 15, a support top plate 16, a light source 17, an X-direction sliding block 18, a No. I fixed pulley 19, a No. II fixed pulley 20, a counterweight 21, a string 22, a legged robot body 23, a robot wireless communication module 24, a tail 25, and a platform base 26.
As shown in fig. 1, the test platform for simulating the adhesion motion of the flexible surface under microgravity is characterized in that: the system main structure comprises a platform base 26, a support scale rod 10 and a support top plate 16, wherein the platform base 26 is horizontally arranged, the support scale rod 10 is vertically fixed on the platform base 26, and the support top plate 16 is horizontally arranged and fixed at the top end of the support scale rod 10; one end of the supporting seat 14 is fixed with the supporting top plate 16, the supporting seat 14 is connected with the flexible surface 11 through a hinge 12, and the angle sensor 13 is coaxially fixed with the hinge 12; the back surface of the flexible surface 11, which is in test contact, is uniformly stuck with resistance strain gauges 9 distributed in an array manner, and the micro inertial navigation module 8 is fixed at the bottom end of the flexible surface 11; the micro-inertial navigation module 8, the resistance strain gauge 9 and the angle sensor 13 are respectively connected with the sensing data acquisition system 7 through a data bus; the sensing data acquisition system 7 is communicated with the computer control terminal 6 through a data bus; a moving pair along the X direction is arranged between the top end of the X-direction sliding block 18 and the supporting top plate 16; no. I fixed pulley 19 and No. II fixed pulley 20 are fixed at the bottom end of the X-direction sliding block 18, and the No. I fixed pulley 19 and the No. II fixed pulley 20 keep the same horizontal height; the X-direction high-speed camera 1 is fixed on the X-direction tripod 2, and the X-direction high-speed camera 1 is aligned to the flexible surface 11 along the X axis; the Y-direction high-speed camera 14 is fixed on the supporting top plate 16, and the Y-direction high-speed camera 14 is aligned with the vertical side surface of the flexible surface 11 along the Y axis; the Z-direction high-speed camera 3 is fixed on the Z-direction tripod 4, and the Z-direction high-speed camera 3 is aligned to the horizontal side surface of the flexible surface 11 along the Z axis; the X-direction high-speed camera 1, the Y-direction high-speed camera 14 and the Z-direction high-speed camera 3 are respectively connected with the computer control terminal 6 through data buses; one end of a thin rope 22 is connected with a foot type robot main body 23, and the other end of the thin rope 22 is sequentially wound through a No. II fixed pulley 20 and a No. I fixed pulley 19 and is connected with a counterweight 21; the foot type robot main body 23 is provided with a robot wireless communication module 24; the computer control terminal 6 is connected with the upper computer wireless communication module 5, and the upper computer wireless communication module 5 keeps wireless communication with the robot wireless communication module 24; the tail of the foot type robot main body 23 is connected with a tail 25; the light source 17 is fixed to the bottom surface of the top support plate 16 in a direction aligned with the flexible surface 11 and the legged robot body 23.
With reference to fig. 2, the present embodiment is a test platform for simulating adhesion motion of a flexible surface under microgravity, and the test platform includes an X-direction high-speed camera 1, an X-direction tripod 2, a Z-direction high-speed camera 3, a Z-direction tripod 4, an upper computer wireless communication module 5, a computer control terminal 6, a sensing data acquisition system 7, a micro inertial navigation module 8, a resistance strain gauge 9, a support scale rod 10, a flexible surface 11, a hinge 12, an angle sensor 13, a support base 14, a Y-direction high-speed camera 15, a support top plate 16, a light source 17, an X-direction sliding block 18, a number I fixed pulley 19, a number II fixed pulley 20, a counterweight 21, a string 22, a platform base 26, a strap 27, and a quadruped adhesion animal 28.
As shown in fig. 2, the test platform and the measurement method for simulating the adhesion motion of the flexible surface under microgravity are characterized in that: the system main structure comprises a platform base 26, a support scale rod 10 and a support top plate 16, wherein the platform base 26 is horizontally arranged, the support scale rod 10 is vertically fixed on the platform base 26, and the support top plate 16 is horizontally arranged and fixed at the top end of the support scale rod 10; one end of the supporting seat 14 is fixed with the supporting top plate 16, the supporting seat 14 is connected with the flexible surface 11 through a hinge 12, and the angle sensor 13 is coaxially fixed with the hinge 12; the back surface of the flexible surface 11, which is in test contact, is uniformly stuck with resistance strain gauges 9 distributed in an array manner, and the micro inertial navigation module 8 is fixed at the bottom end of the flexible surface 11; the micro-inertial navigation module 8, the resistance strain gauge 9 and the angle sensor 13 are respectively connected with the sensing data acquisition system 7 through a data bus; the sensing data acquisition system 7 is communicated with the computer control terminal 6 through a data bus; a moving pair along the X direction is arranged between the top end of the X-direction sliding block 18 and the supporting top plate 16; no. I fixed pulley 19 and No. II fixed pulley 20 are fixed at the bottom end of the X-direction sliding block 18, and the No. I fixed pulley 19 and the No. II fixed pulley 20 keep the same horizontal height; the X-direction high-speed camera 1 is fixed on the X-direction tripod 2, and the X-direction high-speed camera 1 is aligned to the flexible surface 11 along the X axis; the Y-direction high-speed camera 14 is fixed on the supporting top plate 16, and the Y-direction high-speed camera 14 is aligned with the vertical side surface of the flexible surface 11 along the Y axis; the Z-direction high-speed camera 3 is fixed on the Z-direction tripod 4, and the Z-direction high-speed camera 3 is aligned to the horizontal side surface of the flexible surface 11 along the Z axis; the X-direction high-speed camera 1, the Y-direction high-speed camera 14 and the Z-direction high-speed camera 3 are respectively connected with the computer control terminal 6 through data buses; one end of a thin rope 22 is connected with a back strap 27, and the other end of the thin rope 22 is sequentially wound through a No. II fixed pulley 20 and a No. I fixed pulley 19 and is connected with a counterweight 21; the harness 27 is mounted on the quadruped adhesive animal 28; a light source 17 is affixed to the underside of the top support plate 16 in an orientation aligned with the flexible surface 11 and the quadruped adherent animal 28.
The measurement method for simulating the adhesion movement of the flexible surface under microgravity is characterized by comprising the following steps of:
and 7, taking the bending moment and force, the swing acceleration and the swing angle of the flexible surface 11 acquired by the sensing data acquisition system 7 as motion sensing feedback data, and adopting corresponding motion gait data by the computer control terminal 6 to regulate and control the four limb motion mode and the tail 25 swing mode of the foot type robot main body 23 so as to achieve the control target of keeping the small vibration amplitude of the flexible surface 11.
The test platform and the measurement method for simulating the adhesion movement of the flexible surface under the microgravity can be applied to observing the image record of the movement form of the quadruped adhesion animal 28 under the simulated microgravity and the relation between the bending moment and the force of the flexible surface 11, the swinging acceleration and the swinging angle; the four-limb movement form and tail 25 swing mode of the foot type robot main body 23 can be regulated and controlled based on the acquired bending moment and force of the flexible surface 11, the swing acceleration and the swing angle feedback, the control target of small vibration amplitude of the flexible surface 11 is achieved under the condition of simulating microgravity, and the adhesion movement regulation and control technology storage and ground simulation demonstration of the space adhesion robot on the flexible surface (such as a satellite solar sail, a thin film antenna, a thin film battery array and a satellite outer surface flexible protection layer) in the microgravity environment are facilitated in the future.
Claims (4)
1. The utility model provides a test platform of flexible surface adhesion motion under simulation microgravity is experimental to sufficient robot or four-footed adhesion animal which characterized in that:
the test platform comprises a platform base (26), a support scale rod (10) and a support top plate (16); wherein the platform base (26) is horizontally arranged, the supporting scale rod (10) is vertically fixed on the platform base (26), and the supporting top plate (16) is horizontally arranged and fixed at the top end of the supporting scale rod (10);
the test platform further comprises a support base (14) and a flexible surface (11); one end of the supporting seat (14) is fixed with the supporting top plate (16), the other end of the supporting seat (14) is connected with the upper end of the flexible surface (11) through a hinge (12), the axis of the hinge (12) is parallel to the supporting top plate (16), and the lower end of the flexible surface (11) is a free end; the hinge (12) is coaxially provided with an angle sensor (13); resistance strain gauges (9) distributed in an array form are uniformly adhered to the reverse side of the testing contact of the flexible surface (11), and a micro inertial navigation module (8) is further mounted at the bottom end of the flexible surface (11); the angle sensor (13), the resistance strain gauge (9) and the micro inertial navigation module (8) are respectively connected with the sensing data acquisition system (7) through a data bus; the sensing data acquisition system (7) is communicated with the computer control terminal (6) through a data bus;
the test platform also comprises an X-direction sliding block (18), a No. I fixed pulley (19), a No. II fixed pulley (20), a thin rope (22), a counterweight (21) and a wireless communication module (24); the X-direction sliding block (18) is arranged on the supporting top plate (16), and a moving pair along the X direction is arranged between the top end of the X-direction sliding block (18) and the supporting top plate (16); the No. I fixed pulley (19) and the No. II fixed pulley (20) keep the same horizontal height, and are fixed at the bottom end of the X-direction sliding block (18); the wireless communication module (24) is arranged on the legged robot or the quadruped adhesion animal body; the computer control terminal (6) is connected with the upper computer wireless communication module (5), and the upper computer wireless communication module (5) is in wireless communication with the robot wireless communication module (24); one end of a string (22) is connected with a foot type robot main body (23) or connected with a quadruped adhesive animal (28) through a back strap, and the other end of the string is sequentially wound through a No. II fixed pulley (20) and a No. I fixed pulley (19) and connected with a counterweight (21);
the test platform also comprises an X-direction high-speed camera (1), a Y-direction high-speed camera (15) and a Z-direction high-speed camera (3); wherein the X-direction high-speed camera (1) is aligned to the flexible surface (11) along the X-axis, the Y-direction high-speed camera (15) is aligned to the vertical side surface of the flexible surface (11) along the Y-axis, and the Z-direction high-speed camera (3) is aligned to the horizontal side surface of the flexible surface (11) along the Y-axis; the X-direction high-speed camera (1), the Y-direction high-speed camera (15) and the Z-direction high-speed camera (3) are respectively connected with a computer control terminal (6) through data buses.
2. The method for testing a test platform for simulating the adhesion motion of a flexible surface under microgravity according to claim 1, comprising the following steps:
step 1, hanging a four-footed adhesive animal (28) of a legged robot main body (23) or an installation strap (27) at one end of a thin rope (22), tying the other end of the thin rope (22) to a counterweight (21), and enabling the counterweight (21) and a measured object to have equal weight so as to form a simulated microgravity environment condition;
step 2, enabling the X-direction high-speed camera (1), the Y-direction high-speed camera (15) and the Z-direction high-speed camera (3) to be aligned to a measured object and an observation area thereof, and recording X, Y and Z-direction axial movement video image information of the measured object at high speed through the computer control terminal (6);
3, the computer control terminal (6) sends a signal to the robot wireless communication module (24) through the upper computer wireless communication module (5) to control the movement forms of four limbs and a tail (25) of the foot type robot main body (23);
step 4, uniformly distributing the same resistance strain gauges (9) on the flexible surface (11) to form an m multiplied by n array, wherein the resistance change of the resistance strain gauges (9) can be caused by the bending of the flexible surface (11), the bending curvature of the flexible surface (11) is indirectly measured by collecting the resistance change value of the resistance strain gauges (9) through a sensing data acquisition system, the bending moment and force of the flexible surface (11) at the position are indirectly measured by combining the elastic modulus of the flexible surface (11), and the bending moment and force value of each part of the flexible surface can be obtained through the determined plane distribution position of the resistance strain gauges (9) on the flexible surface (11);
step 5, the flexible surface (11) swings due to the adhesion movement, an angle sensor (13) is installed at the hinge (12), and the swing angle value of the flexible surface (11) is detected through a sensing data acquisition system (7); meanwhile, a micro inertial navigation module (8) at the bottom end of the flexible surface (11) acquires an acceleration value and a tail end attitude angle in the swinging process, and the acceleration value and the tail end attitude angle are acquired by a sensing data acquisition system (7) and then read by a computer control terminal (6);
and 6, recording various movement gaits of the legged robot main body (23) or the quadruped adhesive animal (28) and bending moments and forces, swinging acceleration and swinging angles of the flexible surface (11), through the X-direction high-speed camera (1), the Y-direction high-speed camera (15), the Z-direction high-speed camera (3), the computer control terminal (6) and the sensing data acquisition system (7).
3. The method of claim 2, comprising the steps of:
and (3) performing adhesion motion test under simulated microgravity by using the bending moment and force, the swing acceleration and the swing angle of the flexible surface (11) acquired in the step 6 and multiple motion gait videos of the legged robot main body (23) or the quadruped adhesion animal (28).
4. The method of claim 2, comprising the steps of:
and (3) using the bending moment and force, the swing acceleration and the swing angle of the flexible surface (11) acquired in the step (6) as motion sensing feedback data, and adopting corresponding motion gait data by the computer control terminal (6) to regulate and control the four limb motion form and the tail swing mode (25) of the foot type robot main body (23) so as to achieve the control target of keeping the vibration amplitude of the flexible surface (11) small.
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| CN110393171B (en) * | 2019-07-23 | 2021-07-27 | 南京航空航天大学 | Insect bouncing behavior and mechanics observation method |
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