CN113071721A - Three-dimensional motion gravity compensation system of space manipulator - Google Patents
Three-dimensional motion gravity compensation system of space manipulator Download PDFInfo
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- CN113071721A CN113071721A CN202110435693.7A CN202110435693A CN113071721A CN 113071721 A CN113071721 A CN 113071721A CN 202110435693 A CN202110435693 A CN 202110435693A CN 113071721 A CN113071721 A CN 113071721A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
Abstract
The invention relates to the technical field of aerospace engineering ground test equipment, in particular to a three-dimensional motion gravity compensation system for a space manipulator. The compensation device comprises a compensated mechanical arm, a follow-up mechanism, a support and a suspension wire suspension system, wherein the compensated mechanical arm is arranged at the bottom of the support, and the follow-up mechanism is arranged at the top of the support and is connected with the compensated mechanical arm through the suspension wire suspension system; the compensated mechanical arm and the follow-up mechanism have the same configuration, and the three-dimensional motion gravity compensation of the compensated mechanical arm is realized by synchronously controlling the motion of the compensated mechanical arm and the follow-up mechanism. The invention carries out multi-axis and three-dimensional motion gravity compensation on the compensated mechanical arm, thereby achieving the purpose of simulating the space microgravity working state on the ground.
Description
Technical Field
The invention relates to the technical field of aerospace engineering ground test equipment, in particular to a three-dimensional motion gravity compensation system for a space manipulator.
Background
With the continuous development of space exploration activities, the space manipulator becomes an effective tool for completing space operation tasks more and more, can replace astronauts to complete extravehicular operation, greatly reduces the extravehicular risk of the astronauts, can assist the astronauts in orbit to complete in-cabin experiments, and reduces the labor intensity of the astronauts. The actual working environment of the space manipulator is a microgravity environment, and when the movement performance of the space manipulator is verified on the ground, a microgravity simulation environment needs to be constructed for the space manipulator, so that performance indexes such as positioning accuracy, movement speed, operating force, moment and the like in the real working state can be verified and evaluated. The methods commonly used for ground gravity compensation of space mechanical arms include a water float method, an air float method, a suspension wire suspension method and the like. The water floating method needs to build a special pool test system and needs to seal the compensated mechanical arm, so that the cost is high. The air floatation method is generally used in gravity compensation of a planar motion mechanism, and for a system which has multiple freedom and moves in a three-dimensional space, such as a mechanical arm, if the air floatation method is used, the mechanism is generally required to be divided into a plurality of parts, and motion simulation tests under gravity compensation are respectively and independently carried out in different planes. The space manipulator needs to do long-time motion life test in ground test, and if the three-dimensional motion of the manipulator is decomposed into a plurality of different plane motions to carry out air floatation type microgravity simulation test independently, huge time cost is consumed, and the dynamic characteristics under microgravity cannot be completely simulated. The suspension wire suspension method is applied to microgravity simulation, and has the advantages of low cost and simple implementation, and has the defects that interference possibly exists among various suspension wires, so that the suspension wire suspension method is usually difficult to be used for a three-dimensional motion mechanism unless a skillful configuration is designed to avoid the interference among the suspension wires. The application of the wire-hanging method is greatly influenced by the specific configuration of the mechanical arm, and no general scheme is provided. In addition, when a ceiling wire counterweight is applied to a space manipulator, only a part of joints which are greatly influenced by gravity are generally counterweighted.
Aiming at the ground motion test requirement of a space six-degree-of-freedom small mechanical arm, a ground microgravity simulation environment is set up for the small mechanical arm. In order to realize light and small design, the motor torque of the space manipulator is designed according to the load under the microgravity environment, the gravity compensation is needed to be carried out on the joint with the driving performance greatly influenced by the gravity, and in order to complete comprehensive examination and test as far as possible, the manipulator needs to carry out long-term three-dimensional space motion. At present, no existing gravity compensation system is available, and a set of gravity compensation system suitable for three-dimensional motion of the mechanical arm needs to be designed to assist the mechanical arm in completing multiple test tasks such as ground motion performance test, fatigue life test and function and performance index test.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a three-dimensional motion gravity compensation system for a space manipulator, which performs multi-axis and three-dimensional motion gravity compensation on the space manipulator to achieve the purpose of simulating a space microgravity working state on the ground.
In order to achieve the purpose, the invention adopts the following technical scheme:
a three-dimensional motion gravity compensation system of a space manipulator comprises a compensated manipulator, a follow-up mechanism, a support and a suspension wire suspension system, wherein the compensated manipulator is arranged at the bottom of the support, and the follow-up mechanism is arranged at the top of the support and is connected with the compensated manipulator through the suspension wire suspension system;
the compensated mechanical arm and the follow-up mechanism have the same configuration, and the three-dimensional motion gravity compensation of the compensated mechanical arm is realized by synchronously controlling the motion of the compensated mechanical arm and the follow-up mechanism.
The compensated mechanical arm comprises six joints which are connected in turn in a rotating manner.
The suspension wire suspension system comprises a plurality of groups of suspension wire components, two ends of each suspension wire component are respectively connected with the joints corresponding to the compensated mechanical arm and the follow-up mechanism, and each suspension wire component keeps a vertical stretching state.
The suspension wire assembly comprises a suspension wire, a counterweight, a pulley assembly and a fixed mounting assembly, wherein the fixed mounting assembly is connected with a joint of the follow-up mechanism, and the pulley assembly is arranged on the fixed mounting assembly;
the suspension wire passes through the pulley assembly, one end of the suspension wire is connected with the counterweight, and the other end of the suspension wire is connected with the joint of the compensated mechanical arm.
The suspension wires comprise a lower suspension wire and an upper suspension wire, and the lower suspension wire and the upper suspension wire are connected through a tension sensor.
The other end of the suspension wire is rotatably connected with a nondestructive tooling assembly, and the nondestructive tooling assembly is connected with the compensated mechanical arm.
The suspension wire assemblies are four groups and are respectively connected to the compensated mechanical arm and the output ends of the first joint to the fourth joint of the follow-up mechanism.
Six joints of the compensated mechanical arm are a joint I, a joint II, a joint III, a joint IV, a joint V and a joint VI in sequence, wherein the joint I is connected with the bottom of the support and can move along an arc track;
the rotation axis of the joint II is parallel to that of the joint I;
the rotation axis of the joint III is vertical to the rotation axis of the joint II;
the rotation axes of the joints IV and V are parallel to the rotation axis of the joint III;
and the rotation axis of the joint VI is vertical to the rotation axis of the joint V.
The joint III is connected with the joint IV through a first connecting rod; the joint IV is connected with the joint V through a second connecting rod.
The space manipulator three-dimensional motion gravity compensation system further comprises a control system and a display system which are electrically connected, and the control system is connected with the compensated manipulator and the follow-up mechanism.
The invention has the advantages and beneficial effects that:
the invention has more comprehensive functions: according to the invention, through the innovative mechanism design, the gravity compensation is carried out on the mechanism which has four degrees of freedom and performs three-dimensional motion.
The invention has simpler structure: the servo mechanism adopts a series arm type configuration, and compared with the traditional crown block type servo mechanism, the servo mechanism greatly reduces the complexity of the mechanism, improves the reliability of the system and reduces the control difficulty.
The gravity compensation precision of the invention is higher: the follow-up mechanism and the unloaded mechanical arm have the same structure, and the precise synchronization of each lifting point can be realized by controlling the synchronous motion of the two mechanisms without complicated position calculation, so that the dynamic compensation precision is obviously improved.
The invention has safer operation: the suspension wire is connected with the unloaded mechanical arm through a nondestructive tool, the structural damage to the unloaded mechanical arm is avoided, the tension of the suspension wire is monitored in real time by installing the tension sensor in the suspension wire, the damage of an overlarge acting force caused by synchronous control errors to a system is prevented, current protection and emergency stop functions are arranged in a control program, and the multiple protection of the system is realized.
Drawings
FIG. 1 is a schematic structural diagram of a three-dimensional motion gravity compensation system of a space manipulator according to the present invention;
FIG. 2 is a schematic view of a compensated robotic arm of the present invention;
FIG. 3 is a schematic structural diagram of a follower mechanism according to the present invention;
FIG. 4 is a schematic structural view of a messenger suspension system according to the present invention;
fig. 5 is a schematic structural view of the suspension wire assembly of the present invention.
In the figure: 1 is a compensated mechanical arm; 11 is a joint I; 12 is a joint II; 13 is a joint III; 14 is a first connecting rod; 15 is a joint IV; 16 is a second connecting rod; 17 is a joint V; 18 is a joint VI; 2 is a follow-up mechanism; 21 is a follow-up joint I; 22 is a follow-up joint II; 23 is a follow-up joint III; 24 is a follow-up joint IV; 3 is a bracket; 4, a suspension wire suspension system; 41 is a suspension wire component I; 42 is a suspension wire component II; 43 is a suspension wire component III; 44 is a suspension wire component IV; 441 is a nondestructive tooling assembly; 442 is a lower suspension wire; 443 is a tension sensor; 444 is an upper suspension wire; 445 is a counterweight; 446 is a pulley assembly; 447 is a fixed mounting component; 5 is a control system; and 6, a display system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the three-dimensional motion gravity compensation system for the space manipulator provided by the invention comprises a compensated manipulator 1, a follow-up mechanism 2, a support 3 and a suspension wire suspension system 4, wherein the support 3 provides mounting and supporting functions for the system, the compensated manipulator 1 is arranged at the bottom of the support 3, and the follow-up mechanism 2 is arranged at the top of the support 3 and is connected with the compensated manipulator 1 through the suspension wire suspension system 4; the compensated mechanical arm 1 and the follow-up mechanism 2 have the same configuration, and the spatial three-dimensional motion gravity compensation of the compensated mechanical arm 1 is realized by synchronously controlling the motion of the compensated mechanical arm 1 and the motion of the follow-up mechanism 2. The suspension wire suspension system 4 is used for connecting the compensated mechanical arm 1 and the follow-up mechanism 2, provides upward pulling force for the compensated mechanical arm 1, and eliminates the influence of gravity on joint driving.
In the embodiment of the invention, the compensated mechanical arm 1 is a space mechanical arm with a six-degree-of-freedom 6R configuration and comprises six joints which are sequentially connected in a rotating manner. As shown in fig. 2, six joints of the compensated mechanical arm 1 are a joint i 11, a joint ii 12, a joint iii 13, a joint iv 15, a joint v 17 and a joint vi 18 in sequence, wherein the joint i 11 is connected with the bottom of the support 3 and can move along an arc track; the rotation axis of the joint II 12 is parallel to the rotation axis of the joint I11, the rotation axis of the joint III 13 is perpendicular to the rotation axis of the joint II 12, the rotation axes of the joint IV 15 and the joint V17 are parallel to the rotation axis of the joint III 13, and the rotation axis of the joint VI 18 is perpendicular to the rotation axis of the joint V17.
Furthermore, the joint III 13 is connected with the joint IV 15 through a first connecting rod 14, and the joint IV 15 is connected with the joint V17 through a second connecting rod 16, so that the mechanical arm meets the requirement of an operation space. The structural design of each joint adopts hollow wiring, and a cable passes through a central hole of each joint, so that the +/-180-degree rotary motion can be realized. The joint I11 provides rotary motion, is a rotary joint formed by an arc guide rail and a gear pair of a gear ring, and adopts a supporting and driving design mode of the arc guide rail and the arc gear ring, so that the structure is light and high in rigidity while large-range accessibility is realized.
In the embodiment of the invention, six joint components of the compensated mechanical arm 1 are all rotary joints, and form a 6R joint configuration form. During ground motion test, the first four joints of the compensated mechanical arm 1 are greatly influenced by gravity, and gravity compensation is needed to be carried out on the compensated mechanical arm. When gravity compensation is carried out, the joint V17 and the joint VI 18 are kept still and are equivalent to a part of an output mechanism of the joint IV 15. The first four joints of the compensated manipulator 1Are respectively theta1、θ2、θ3、θ4As shown in fig. 2.
In the embodiment of the invention, as shown in fig. 3, the following mechanism 2 has the same configuration as the first four joints of the compensated mechanical arm 1, and comprises a following joint I21, a following joint II 22, a following joint III 23 and a following joint IV 24 which are sequentially connected in a rotating manner, and the rotating angles of the following joints I21, the following joints II 22, the following joints III 23 and the following joints IV 24 are respectively
And
because the configuration and the connecting rod size of the follow-up mechanism 2 are completely the same as those of the four-degree-of-freedom mechanical arm consisting of the front four joints of the unloaded mechanical arm 1, the suspension wire suspension system 4 can be always vertically compensated as long as the synchronous motion of the follow-up mechanism 2 and the corresponding joints of the compensated mechanical arm 1 is ensured. Therefore, in the motion process of the compensated mechanical arm 1, the follow-up mechanism 2 moves synchronously along with the compensated mechanical arm 1, so that the suspension wires are always kept in a vertical state, and the multi-axis dynamic compensation function is met.
In the embodiment of the present invention, as shown in fig. 4, the suspension wire suspension system 4 includes a plurality of sets of suspension wire assemblies, both ends of each suspension wire assembly are respectively connected with the joints corresponding to the compensated robot arm 1 and the follow-up mechanism 2, and each suspension wire assembly is kept in a vertical stretching state.
The suspension wire suspension system 4 in this embodiment includes four sets of suspension wire assemblies, which are respectively a suspension wire assembly i 41, a suspension wire assembly ii 42, a suspension wire assembly iii 43, and a suspension wire assembly iv 44, and the four sets of suspension wire assemblies are respectively connected between the first four corresponding joints of the compensated manipulator 1 and the follower mechanism 2, and are respectively used for gravity compensation of the output end mechanisms of the joints 1 to 4 of the compensated manipulator 1.
As shown in fig. 5, in the embodiment of the present invention, four sets of suspension wire assemblies have the same structure, and each set of suspension wire assembly includes a suspension wire, a counterweight 445, a pulley assembly 446 and a fixed mounting assembly 447, wherein the fixed mounting assembly 447 is connected with a joint of the following mechanism 2, and the pulley assembly 446 is disposed on the fixed mounting assembly 447; the suspension wire passes through the pulley assembly 446, and one end of the suspension wire is connected with the counterweight 445, and the other end of the suspension wire is connected with the joint of the compensated mechanical arm 1. The weight of the counterweight 445 is the same as the weight of the compensated mechanism.
In the embodiment of the present invention, the suspension wire includes a lower suspension wire 442 and an upper suspension wire 444, the lower suspension wire 442 and the upper suspension wire 444 are connected by a tension sensor 443, and the tension in the suspension wire is dynamically measured in real time by the tension sensor 443.
Further, the other end of the suspension wire is rotatably connected with a nondestructive tooling component 441, and the nondestructive tooling component 441 is connected with the compensated mechanical arm 1. Specifically, the nondestructive tool assembly 441 is used for connecting corresponding mechanisms on the compensated mechanical arm 1, and is connected with the compensated mechanical arm 1 through a clamping ring, so that structural damage to the compensated mechanical arm 1 is avoided, and the upper part and the lower part of the nondestructive tool assembly 441 are movably hinged, so that when the mechanical arm moves, the suspension wire can be always kept in the vertical direction, and the extension line of the suspension wire passes through the gravity center of the compensated mechanism.
On the basis of the above embodiment, the three-dimensional motion gravity compensation system for the space manipulator further comprises a control system 5 and a display system 6 which are electrically connected, wherein the control system 5 is connected with the compensated manipulator 1 and the follow-up mechanism 2. The control system 5 is used for planning a motion track and sending a motion instruction to the compensated mechanical arm 1 and the follow-up mechanism 2 so as to enable the compensated mechanical arm and the follow-up mechanism to move synchronously. In addition, the joint position, the speed, the position and the tension information of the suspension wire are collected back to the control system in real time and are used for storage and display after being processed. The display system 6 mainly provides a human-computer interface function, and displays the state of the motion mechanism and the effect of gravity compensation in real time in the forms of charts, lines, numbers and the like.
In this embodiment, the compensated mechanical arm is a spatial six-degree-of-freedom mechanical arm in a serial 6R configuration, the first joint is a rotary joint formed by an arc guide rail and a gear pair of a gear ring, and the last five joints are modular rotary joints. Through analysis, the driving performance of the front four joints is greatly influenced by the gravity of the mechanism and needs to be subjected to gravity compensation, and the gravity center of the output mechanisms of the rear two joints is closer to the rotating shaft, so that the driving performance of the joints is less influenced by the gravity factor and does not need to be subjected to gravity compensation.
In the embodiment of the invention, the suspension wire suspension system 4 mainly provides the gravity compensation function of each joint, one end of the suspension wire is positioned right above the gravity center of the output mechanism of the compensated mechanical arm joint, and the other end of the suspension wire is connected with a weight through a pulley, so that upward tension is always provided for the joint, and the influence of gravity on the driving performance of the joint is eliminated. And a tension sensor is arranged on each suspension wire to display the gravity compensation effect in real time. The lower part of the suspension wire is fixedly connected to the compensated mechanical arm through a clamping ring type nondestructive tool, so that structural damage or damage to the compensated mechanical arm is avoided. And during gravity compensation, the gravity of the nondestructive tool is compensated, and the disturbing moment of the nondestructive tool on the movement of each joint is eliminated.
According to the space manipulator three-dimensional motion gravity compensation system provided by the invention, the following mechanism with the same configuration as the compensated manipulator is used for gravity compensation of the space manipulator for the first time, and a plurality of groups of suspension wire suspension systems and connection modes are innovatively designed, so that the problem that a suspension wire counterweight method is difficult to apply to the gravity compensation of the three-dimensional motion mechanism is solved, the difficulty of synchronous control is reduced, the precision of real-time dynamic gravity compensation is greatly improved, and the real-time and high-precision gravity compensation of the three-dimensional motion of the ground of the space manipulator is realized at lower cost.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The three-dimensional motion gravity compensation system of the space manipulator is characterized by comprising a compensated manipulator (1), a follow-up mechanism (2), a support (3) and a suspension wire suspension system (4), wherein the compensated manipulator (1) is arranged at the bottom of the support (3), the follow-up mechanism (2) is arranged at the top of the support (3) and is connected with the compensated manipulator (1) through the suspension wire suspension system (4);
the compensated mechanical arm (1) and the follow-up mechanism (2) are identical in structure, and three-dimensional motion gravity compensation of the compensated mechanical arm (1) is achieved by synchronously controlling the motion of the compensated mechanical arm (1) and the motion of the follow-up mechanism (2).
2. The space manipulator three-dimensional motion gravity compensation system according to claim 1, wherein the compensated manipulator (1) comprises six joints which are connected in turn in a rotation manner.
3. The space manipulator three-dimensional motion gravity compensation system of claim 2, wherein the suspension wire suspension system (4) comprises a plurality of groups of suspension wire assemblies, two ends of each suspension wire assembly are respectively connected with the joints of the compensated manipulator (1) and the follow-up mechanism (2), and each suspension wire assembly is kept in a vertical stretching state.
4. The space manipulator three-dimensional motion gravity compensation system according to claim 3, wherein the suspension wire assembly comprises a suspension wire, a counterweight (445), a pulley assembly (446) and a fixed mounting assembly (447), wherein the fixed mounting assembly (447) is connected with a joint of the follow-up mechanism (2), and the pulley assembly (446) is arranged on the fixed mounting assembly (447);
the suspension wire passes through a pulley assembly (446), one end of the suspension wire is connected with a counterweight (445), and the other end of the suspension wire is connected with the joint of the compensated mechanical arm (1).
5. The space manipulator three-dimensional motion gravity compensation system of claim 4, wherein the suspension wires comprise a lower suspension wire (442) and an upper suspension wire (444), and the lower suspension wire (442) and the upper suspension wire (444) are connected through a tension sensor (443).
6. The space manipulator three-dimensional motion gravity compensation system of claim 4, wherein the other end of the suspension wire is rotatably connected with a nondestructive tooling assembly (441), and the nondestructive tooling assembly (441) is connected with the compensated manipulator (1).
7. The space manipulator three-dimensional motion gravity compensation system of claim 3, wherein the suspension wire assemblies are four groups and are respectively connected to the output ends of the first to fourth joints of the compensated manipulator (1) and the follow-up mechanism (2).
8. The space manipulator three-dimensional motion gravity compensation system as claimed in claim 2, wherein six joints of the compensated manipulator (1) are a joint I (11), a joint II (12), a joint III (13), a joint IV (15), a joint V (17) and a joint VI (18) in sequence, wherein the joint I (11) is connected with the bottom of the support (3) and can move along an arc track;
the rotation axis of the joint II (12) is parallel to the rotation axis of the joint I (11);
the rotation axis of the joint III (13) is vertical to the rotation axis of the joint II (12);
the rotation axes of the joint IV (15) and the joint V (17) are parallel to the rotation axis of the joint III (13);
the rotation axis of the joint VI (18) is vertical to the rotation axis of the joint V (17).
9. The space manipulator three-dimensional motion gravity compensation system of claim 8, wherein the joint III (13) and the joint IV (15) are connected through a first connecting rod (14); the joint IV (15) is connected with the joint V (17) through a second connecting rod (16).
10. The space manipulator three-dimensional motion gravity compensation system according to any one of claims 1-9, further comprising a control system (5) and a display system (6) electrically connected, wherein the control system (5) is connected with the compensated manipulator (1) and the follow-up mechanism (2).
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| CN202110435693.7A CN113071721A (en) | 2021-04-22 | 2021-04-22 | Three-dimensional motion gravity compensation system of space manipulator |
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| CN202110435693.7A CN113071721A (en) | 2021-04-22 | 2021-04-22 | Three-dimensional motion gravity compensation system of space manipulator |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114888820A (en) * | 2022-04-27 | 2022-08-12 | 北京工业大学 | Gear machining robot |
| CN115180190A (en) * | 2022-08-24 | 2022-10-14 | 北京卫星环境工程研究所 | Ground simulation system and experimental method for on-orbit operation extra-cabin maintenance tool of astronaut |
| CN115561004A (en) * | 2022-10-21 | 2023-01-03 | 哈尔滨工业大学 | Space multi-branch robot ground test platform and test method |
| CN117208238A (en) * | 2023-09-12 | 2023-12-12 | 中山大学 | Ground simulation experiment system for assembly of three-legged space robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114888820A (en) * | 2022-04-27 | 2022-08-12 | 北京工业大学 | Gear machining robot |
| CN114888820B (en) * | 2022-04-27 | 2024-02-06 | 北京工业大学 | Gear machining robot |
| CN115180190A (en) * | 2022-08-24 | 2022-10-14 | 北京卫星环境工程研究所 | Ground simulation system and experimental method for on-orbit operation extra-cabin maintenance tool of astronaut |
| CN115561004A (en) * | 2022-10-21 | 2023-01-03 | 哈尔滨工业大学 | Space multi-branch robot ground test platform and test method |
| CN115561004B (en) * | 2022-10-21 | 2023-04-18 | 哈尔滨工业大学 | Space multi-branch robot ground test platform and test method |
| CN117208238A (en) * | 2023-09-12 | 2023-12-12 | 中山大学 | Ground simulation experiment system for assembly of three-legged space robot |
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