CN114459356A - Device for testing end pose precision of space mechanical arm - Google Patents

Device for testing end pose precision of space mechanical arm Download PDF

Info

Publication number
CN114459356A
CN114459356A CN202210247263.7A CN202210247263A CN114459356A CN 114459356 A CN114459356 A CN 114459356A CN 202210247263 A CN202210247263 A CN 202210247263A CN 114459356 A CN114459356 A CN 114459356A
Authority
CN
China
Prior art keywords
pressure ring
base
space
space manipulator
manipulator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202210247263.7A
Other languages
Chinese (zh)
Other versions
CN114459356B (en
Inventor
史士财
杨国财
樊绍巍
孙永军
朱映远
李志奇
纪军红
金明河
张元飞
刘宏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin Institute of Technology Shenzhen
Original Assignee
Harbin Institute of Technology Shenzhen
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harbin Institute of Technology Shenzhen filed Critical Harbin Institute of Technology Shenzhen
Priority to CN202210247263.7A priority Critical patent/CN114459356B/en
Publication of CN114459356A publication Critical patent/CN114459356A/en
Application granted granted Critical
Publication of CN114459356B publication Critical patent/CN114459356B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)

Abstract

一种空间机械臂末端位姿精度测试装置，具体涉及一种七自由度空间机械臂末端相对机械臂基座的位姿精度测试装置，本发明为了解决现有的空间机械臂末端无法一步实现高精度位姿测量的问题，机械臂固定装置包括倒凹字形的支架、压环组件和多个地脚，压环组件固定安装在支架的顶端，多个地脚分别与支架的两侧底端固定安装,机械臂支撑装置包括第三压环、支撑组件和基座组件，第三压环、支撑组件和基座组件从上至下依次固定连接,机械臂支撑装置位于压环组件的下方，空间机械臂的一侧安装在压环组件内，空间机械臂的另一侧安装在第三压环内，末端靶标和基座靶标分别安装在空间机械臂的两个末端，多个地脚的底面与基座组件的最下端底面位于同一平面内。

Figure 202210247263

A device for testing the position and attitude accuracy of the end of a space manipulator, in particular to a device for testing the position and attitude accuracy of the end of a seven-degree-of-freedom space manipulator relative to a manipulator base. For the problem of accurate pose measurement, the robotic arm fixing device includes an undercut-shaped bracket, a pressure ring assembly and a plurality of feet. The pressure ring assembly is fixedly installed on the top of the bracket, and the plurality of feet are respectively fixed to the bottom ends of both sides of the bracket. Installation. The mechanical arm support device includes a third pressure ring, a support assembly and a base assembly. The third pressure ring, the support assembly and the base assembly are fixedly connected in sequence from top to bottom. The mechanical arm support device is located below the pressure ring assembly. Space One side of the manipulator is installed in the pressure ring assembly, the other side of the space manipulator is installed in the third press ring, the end target and the base target are respectively installed at the two ends of the space manipulator, and the bottom surface of the multiple feet In the same plane as the lowermost bottom surface of the base assembly.

Figure 202210247263

Description

Device for testing end pose precision of space mechanical arm
Technical Field
The invention relates to a precision testing device, in particular to a pose precision testing device of a tail end of a seven-degree-of-freedom space mechanical arm relative to a mechanical arm base, and belongs to the field of measurement.
Background
The space manipulator is generally designed for space microgravity environment application, joint driving torque is relatively small, rigidity is low, so that the tail end of the manipulator can not move freely under the ground gravity environment without supporting the weight of the manipulator, and the tail end pose precision test can not be realized. In order to realize the purpose of performing precision test on the space mechanical arm system in the ground weight environment, a related test system needs to be specially designed.
The patent number CN201010183146.6 entitled six-dimensional pose accuracy testing method of space manipulator based on air floatation system discloses that when the pose accuracy of the tail end of the space manipulator is measured, a multi-step measuring mode is adopted, and a third target conversion measuring result is added at the middle position of the space manipulator, but the testing device of the patent can not realize that all joints of the space manipulator rotate simultaneously and complete the measurement in one step, and the measured result can not truly reflect the measuring result due to the addition of the third target conversion measuring result, so that the testing process is complex.
Patent No. CN200610009822.1, entitled "spatial manipulator position and orientation precision testing system" discloses that the position of the ball that needs to establish the coordinate system is measured by adopting a three-dimensional coordinate machine, the test of the terminal position and orientation precision of the spatial manipulator is realized only by one step, but an additional supporting shaft system needs to be added in the measuring process, and parts on the manipulator body are disassembled, so that the operation difficulty is large, and the three-dimensional coordinate machine can be in contact with the ball, so that the measuring precision is reduced, and the high-precision measurement cannot be realized.
Disclosure of Invention
The invention provides a device for testing the pose accuracy of the tail end of a space manipulator, which aims to solve the problem that the tail end of the existing space manipulator cannot realize high-accuracy pose measurement in one step.
The technical scheme adopted by the invention is as follows:
the mechanical arm fixing device comprises an inverted concave-shaped support, a pressing ring assembly and a plurality of ground feet, the pressing ring assembly is fixedly installed at the top end of the support, the length direction of the pressing ring assembly is perpendicular to the length direction of the support, the plurality of ground feet are fixedly installed at the bottom ends of the two sides of the support respectively, the mechanical arm supporting device comprises a third pressing ring, a supporting assembly and a base assembly, the third pressing ring, the supporting assembly and the base assembly are fixedly connected in sequence from top to bottom, the mechanical arm supporting device is located below the pressing ring assembly, one side of a space mechanical arm is installed in the pressing ring assembly, the other side of the space mechanical arm is installed in the third pressing ring, the length direction of the space mechanical arm is perpendicular to the length direction of the mechanical arm fixing device, and the tail end target and the base target are fixedly installed at the two tail ends of the space mechanical arm respectively, the bottom surfaces of the plurality of feet and the bottom surface of the lowest end of the base component are positioned in the same plane.
Has the advantages that:
the invention arranges the mechanical arm fixing device and the mechanical arm supporting device, the mechanical arm supporting device is arranged below the mechanical arm fixing device, and the lowest end of the mechanical arm supporting device and the lowest end of the mechanical arm fixing device are ensured to be positioned in the same plane, the mechanical arm fixing device and the mechanical arm supporting device are respectively used for fixing a second arm rod and a first arm rod of the seven-degree-of-freedom space mechanical arm to achieve the effect of stable fixing, the tail end part of the space mechanical arm is longitudinally placed, a tail end target 3 is arranged on the tail end of the mechanical arm, a base target 4 is arranged on a mechanical arm base, so that the tail end of the mechanical arm is positioned above the mechanical arm base, when the measurement precision is measured, the free rotation of each joint can be ensured, the three-dimensional space motion of the tail end of the space manipulator relative to the space manipulator base can be realized, and the pose precision test of the tail end of the space manipulator relative to the manipulator base can be realized in one step. The method is simple, has no contact force in the test process, does not need a third target for conversion, ensures no intermediate conversion error, does not influence the test result, and has high measurement precision.
Drawings
FIG. 1 is an overall block diagram of the present invention;
fig. 2 is a structural view of the robot arm fixing device 1;
fig. 3 is a structural view of the robot arm supporting device 2;
FIG. 4 is a block diagram of space robot arm A;
Detailed Description
The first embodiment is as follows: the present embodiment is described with reference to fig. 1 to 4, and the apparatus for testing the end pose accuracy of a space manipulator in the present embodiment includes a manipulator fixing device 1, a manipulator supporting device 2, an end target 3, and a base target 4;
the mechanical arm fixing device 1 comprises an inverted concave support 1-1, a pressure ring assembly 1-2 and a plurality of ground feet 1-3, the support 1-1 comprises a first cross beam 1-1-1, a plurality of second cross beams 1-1-2, a plurality of upright posts 1-1-3 and a plurality of reinforcing ribs 1-1-4, the number of the second cross beams 1-1-2 and the number of the upright posts 1-1-3 are two, the number of the reinforcing ribs 1-1-4 is four, two upright posts 1-1-3 are respectively and vertically arranged at two ends of the lower surface of the first cross beam 1-1-1, the bottom end of each upright post 1-1-3 is respectively and fixedly connected with the center of the upper surface of each second cross beam 1-1-2, one end of each reinforcing rib 1-1-4 is fixedly connected with each upright post 1-1-3, the other end of each reinforcing rib 1-1-4 is fixedly connected with the upper surface of each second cross beam 1-1-2, and the stability and rigidity of the support 1-1 are ensured by the arrangement. The pressure ring assembly 1-2 is fixedly arranged at the top end of the support 1-1, and the length direction of the pressure ring assembly 1-2 is perpendicular to the length direction of the support 1-1, so that the pressure ring assembly 1-2 can be conveniently fixed on the space mechanical arm A.
The pressure ring assembly 1-2 comprises a pressure ring connecting piece 1-2-1, a first pressure ring 1-2-2 and a second pressure ring 1-2-3, the pressure ring connecting piece 1-2-1 is connected with the center position of a first cross beam 1-1-1 of the support 1-1 in a fixing mode such as a screw, a bolt or welding mode, and the pressure ring connecting piece 1-2-1 is arranged at the center position of the first cross beam 1-1-1 to ensure that the first cross beam 1-1-1 is stressed uniformly during precision measurement. The left end and the right end of the lower surface of the compression ring connecting piece 1-2-1 are respectively provided with a first compression ring 1-2-2 and a second compression ring 1-2-3, the plurality of feet 1-3 are respectively fixedly arranged with the bottom ends of the two sides of the support 1-1, namely, the left end and the right end of the lower surface of each second cross beam 1-1-2 are respectively provided with one or more feet 1-3, the number of the feet 1-3 is at least four, preferably four or eight, and the feet 1-3 are used for adjusting the height between the first cross beam 1-1-1 and the base 5.
The mechanical arm supporting device 2 is used for supporting the weight of the first joint A2, the second joint A3, the third joint A4 and the first arm rod A5 and ensuring that the horizontal movement of the first joint A2, the second joint A3, the third joint A4 and the first arm rod A5 is realized. The mechanical arm supporting device 2 comprises a third pressing ring 2-1, a supporting assembly 2-2 and a base assembly 2-3, the third pressing ring 2-1, the supporting assembly 2-2 and the base assembly 2-3 are sequentially and fixedly connected from top to bottom, the first pressing ring 1-2-2, the second pressing ring 1-2-3 and the third pressing ring 2-1 respectively comprise an upper portion and a lower portion, the upper portion and the lower portion are semicircular, the upper portion and the lower portion are buckled with each other, and the upper portion and the lower portion are detachably connected through screws or bolts, so that the installation of the space mechanical arm A with different thicknesses is facilitated.
The support assembly 2-2 comprises a first self-aligning bearing 2-2-1, an air floatation support shaft 2-2-2, a locking force nut 2-2-3 and an air floatation support sleeve 2-2-4, one end of the air floatation support shaft 2-2-2 is connected with a third pressure ring 2-1 through the first self-aligning bearing 2-2-1, the other end of the air floatation support shaft 2-2-2 is inserted into the air floatation support sleeve 2-2-4, so that the air floatation support shaft 2-2-2 can be adjusted along the axis in the air floatation support sleeve 2-2-4, the proper position of the space manipulator A is adjusted, the locking force nut 2-2-3 is arranged at the connection part of the air floatation support shaft 2-2-2-2 and the air floatation support sleeve 2-2-4, the adjusted space manipulator A is convenient to fix, and after the position of the space manipulator A is adjusted during use, the air floatation support shaft 2-2-2 and the air floatation support sleeve 2-2-4 are fixed by the locking force nut 2-2-3.
The base component 2-3 comprises a bottom plate 2-3-1, a plurality of second self-aligning bearings 2-3-2, a plurality of air-floating bearings 2-3-3 and a plurality of connecting pieces, wherein the bottom plate 2-3-1 is a rectangular plate body with four corners being round corners, one corner of the rectangular plate body is processed into an arc shape with the circle center positioned on the outer side of the rectangular plate body, and the arrangement is that the base component is used for avoiding when the three joints A4 of the space manipulator A rotate and preventing the two joints from interfering. The other three corners are respectively provided with a through hole, each connecting piece penetrates through the corresponding through hole to be connected with each second self-aligning bearing 2-3-2, the lower end of each second self-aligning bearing 2-3-2 is fixedly connected with each air-floating bearing 2-3-3, the second self-aligning bearings 2-3-2 are used for adjusting the installation error of the mechanical arm supporting device 2, and the lower ends of the air-floating supporting sleeves 2-2-4 are fixedly installed on the bottom plate 2-3-1.
The mechanical arm supporting device 2 is located below the pressure ring assembly 1-2, one side of the space mechanical arm A is installed in the pressure ring assembly 1-2, namely two ends of an arm rod II A7 of the space mechanical arm A are respectively installed in the first pressure ring 1-2-2 and the second pressure ring 1-2-3, free movement of a joint five A8, a joint six A9 and a joint seven A10 of the space mechanical arm A can be achieved, one end of an arm rod I A5 of the space mechanical arm A is installed in the third pressure ring 2-1, and free movement of a joint I A2, a joint II A3 and a joint III A4 of the space mechanical arm A can be achieved. The length direction of the space manipulator A is perpendicular to the length direction of the manipulator fixing device 1, and the space manipulator A is arranged vertically, so that the space manipulator A is fixed in the vertical direction, and the motion of each joint of the space manipulator A is not limited. The tail end target 3 and the base target 4 are respectively and fixedly installed at two tail ends of the space manipulator A, the bottom surfaces of the plurality of feet 1-3 and the bottom surface of the lowest end of the base component 2-3 are located in the same plane, namely, the bottom surfaces and the bottom surfaces are located on the upper surface of the base 5, and therefore the level of the device is convenient to guarantee during measurement, and accuracy of precision is guaranteed. The lower surface of the base target 4 is higher than the bottom surfaces of the plurality of feet 1-3 and the bottom surface of the lowest end of the base assembly 2-3, so that the base 5 cannot interfere with the joint three A4 of the space manipulator A when the space manipulator A rotates.
The second embodiment is as follows: the embodiment is described with reference to fig. 1, and the device for testing the pose accuracy of the tail end of the space manipulator in the embodiment further includes a base 5, the base 5 is rectangular, the manipulator fixing device 1 and the manipulator supporting device 2 are both installed on the upper surface of the base 5, that is, the bottom surfaces of the multiple feet 1-3 and the bottom surface of the lowest end of the base assembly 2-3 are both in contact with the upper surface of the base 5, if the manipulator fixing device 1 does not move along with the rotation of the joint of the space manipulator a in the accuracy measurement process, the manipulator fixing device 1 can be directly placed on the base 5 without being fixed, otherwise, the manipulator fixing device needs to be fixed on the base 5 through bolts or screws. The mechanical arm supporting device 2 is placed on the base 5 without being fixed, and the mechanical arm supporting device 2 can move on the base 5 along with the space mechanical arm A under the supporting action of the air bearing 2-3-3. The longitudinal direction of the robot arm fixing device 1 coincides with the longitudinal direction of the base 5. The base 5 is convenient to ensure that the bottom surface of the lowermost end of the robot arm fixing device 1 and the bottom surface of the lowermost end of the robot arm supporting device 2 are in the same plane. The base 5 is the marble platform, and marble platform precision stability is good, is difficult to warp along with the increase of live time, if not high to the required precision, and short-term the use, also can use the cast iron platform. The rest is the same as the first embodiment.
The third concrete implementation mode: the present embodiment will be described with reference to fig. 1, and the apparatus for testing the positional and pose accuracy of the end of a space manipulator according to the present embodiment may further include a laser tracker mounted on the upper surface of the base 5 in the vicinity of the space manipulator a, and the laser tracker of the present invention may be a 6D laser tracker of API corporation or a 6D laser tracker of LIECA corporation, and the others are the same as those of the first or second embodiment.
The fourth concrete implementation mode: the present embodiment is described with reference to fig. 4, where the space manipulator a is a seven-degree-of-freedom space manipulator, the space manipulator a sequentially includes a manipulator base a1, a first joint a2, a second joint A3, a third joint a4, a first arm a5, a fourth joint A6, a second arm a7, a fifth joint A8, a sixth joint a9, a seventh joint a10, and a manipulator end a11, one end of the first arm a5 is connected to one end of the second arm a7 through the fourth joint A6, the other end of the first arm a5 is connected to the third joint a4, the second joint A3, the first joint a2, and the manipulator base a1, and a base target 4 is mounted on one side of the manipulator base a 1; the other end of the arm rod II A7 is sequentially connected with a joint five A8, a joint six A9, a joint seven A10 and a mechanical arm tail end A11, and a tail end target 3 is installed on one side of a mechanical arm tail end A11. The first joint A2, the second joint A3, the third joint A4, the fourth joint A6, the fifth joint A8, the sixth joint A9 and the seventh joint A10 are all rotary motion joints. The others are the same as the first, second or third embodiments.
The fifth concrete implementation mode: the embodiment is described with reference to fig. 1 to 4, and the use method of the device for testing the end pose accuracy of the space manipulator according to the embodiment is that the actual motion angle of each joint of the manipulator deviates from the expected angle, so that the actual pose of the end of the manipulator cannot reach the expected pose. The using method comprises the following steps:
s1, selecting whether the mechanical arm fixing device 1 needs to be fixed on the base 5 or not according to the weight of the space mechanical arm A with the accuracy to be measured, and fixing the mechanical arm fixing device 1 on the upper surface of the marble base 5 by using bolts or screws if the mechanical arm fixing device needs to be fixed; if the fixing is not needed, the mechanical arm fixing device 1 is placed on the upper surface of the marble base 5;
s2, mounting the arm A5 of the space manipulator A in the third press ring 2-1 of the manipulator supporting device 2, and adjusting the height of the manipulator supporting device 2 to enable the arm B7 to be just mounted in the first press ring 1-2-2 and the second press ring 1-2-3 so as to completely fix the space manipulator A.
S3, calculating the expected angle of each joint of the space manipulator A by adopting inverse kinematics calculation software of the manipulator according to the expected pose of the given space manipulator A, and controlling the first joint A2, the second joint A3, the third joint A4, the fourth joint A6, the fifth joint A8, the sixth joint A9 and the seventh joint A10 of the space manipulator A to move to the expected joint angles by adopting a manipulator control system;
s4, calibrating the pose of the base target 4 relative to the A1 coordinate system of the mechanical arm base by using a laser tracker;
s5, calibrating the pose of the tail end target 3 relative to the tail end A11 coordinate system of the mechanical arm by using a laser tracker;
s6, measuring the pose of the end target 3 relative to the base target 4 by using a laser tracker;
s7, calculating the pose of the tail end A11 coordinate system of the mechanical arm relative to the A1 coordinate system of the mechanical arm base;
and S8, comparing the calculated pose of the tail end A11 coordinate system of the mechanical arm relative to the coordinate system of the mechanical arm base A1 with the expected pose, and obtaining the pose precision of the tail end A11 of the seven-degree-of-freedom space mechanical arm.
The other is the same as the first, second, third or fourth embodiments.

Claims (10)

1.一种空间机械臂末端位姿精度测试装置，其特征在于：它包括机械臂固定装置(1)、机械臂支撑装置(2)、末端靶标(3)和基座靶标(4)；1. A space manipulator end position and attitude accuracy testing device is characterized in that: it comprises a manipulator fixing device (1), a manipulator support device (2), an end target (3) and a base target (4); 机械臂固定装置(1)包括倒凹字形的支架(1-1)、压环组件(1-2)和多个地脚(1-3)，压环组件(1-2)固定安装在支架(1-1)的顶端，压环组件(1-2)的长度方向与支架(1-1)的长度方向垂直，多个地脚(1-3)分别与支架(1-1)的两侧底端固定安装；The mechanical arm fixing device (1) includes an undercut-shaped bracket (1-1), a pressure ring assembly (1-2) and a plurality of ground feet (1-3), and the pressure ring assembly (1-2) is fixedly installed on the bracket At the top of (1-1), the length direction of the pressure ring assembly (1-2) is perpendicular to the length direction of the bracket (1-1), and the plurality of feet (1-3) are respectively connected to the two sides of the bracket (1-1). Side bottom fixed installation; 机械臂支撑装置(2)包括第三压环(2-1)、支撑组件(2-2)和基座组件(2-3)，第三压环(2-1)、支撑组件(2-2)和基座组件(2-3)从上至下依次固定连接；The mechanical arm supporting device (2) includes a third pressing ring (2-1), a supporting component (2-2) and a base component (2-3), a third pressing ring (2-1), a supporting component (2- 2) and the base assembly (2-3) are fixedly connected in sequence from top to bottom; 机械臂支撑装置(2)位于压环组件(1-2)的下方，空间机械臂(A)的一侧安装在压环组件(1-2)内，空间机械臂(A)的另一侧安装在第三压环(2-1)内，空间机械臂(A)的长度方向与机械臂固定装置(1)的长度方向垂直，末端靶标(3)和基座靶标(4)分别固定安装在空间机械臂(A)的两个末端，多个地脚(1-3)的底面与基座组件(2-3)的最下端底面位于同一平面内。The mechanical arm support device (2) is located below the pressure ring assembly (1-2), one side of the space robot arm (A) is installed in the pressure ring assembly (1-2), and the other side of the space robot arm (A) Installed in the third pressure ring (2-1), the length direction of the space manipulator (A) is perpendicular to the length direction of the manipulator fixing device (1), and the end target (3) and the base target (4) are respectively fixed and installed At the two ends of the space manipulator (A), the bottom surfaces of the plurality of feet (1-3) and the bottom surface of the lowermost end of the base assembly (2-3) are located in the same plane. 2.根据权利要求1中所述的一种空间机械臂末端位姿精度测试装置，其特征在于：它还包括底座(5)，底座(5)为矩形，机械臂固定装置(1)和机械臂支撑装置(2)均安装在底座(5)的上表面上。2. The device for testing the position and attitude accuracy of a space manipulator according to claim 1, characterized in that: it also comprises a base (5), the base (5) is a rectangle, the manipulator fixing device (1) and the mechanical arm The arm support devices (2) are all mounted on the upper surface of the base (5). 3.根据权利要求1中所述的一种空间机械臂末端位姿精度测试装置，其特征在于：支架(1-1)包括第一横梁(1-1-1)、多根第二横梁(1-1-2)、多根立柱(1-1-3)和多根加强肋(1-1-4)，第一横梁(1-1-1)下表面的两端分别垂直安装有多根立柱(1-1-3)，每根立柱(1-1-3)的底端分别与每根第二横梁(1-1-2)上表面的中心处固定连接，每根加强肋(1-1-4)的一端均与每根立柱(1-1-3)固定连接，每根加强肋(1-1-4)的另一端均与每根第二横梁(1-1-2)的上表面固定连接。3. The device for testing the position and attitude accuracy of the end of a space manipulator according to claim 1, wherein the bracket (1-1) comprises a first beam (1-1-1), a plurality of second beams ( 1-1-2), a plurality of uprights (1-1-3) and a plurality of reinforcing ribs (1-1-4), the two ends of the lower surface of the first beam (1-1-1) are vertically installed with a plurality of A column (1-1-3), the bottom end of each column (1-1-3) is fixedly connected to the center of the upper surface of each second beam (1-1-2), and each reinforcing rib ( One end of 1-1-4) is fixedly connected to each column (1-1-3), and the other end of each reinforcing rib (1-1-4) is connected to each second beam (1-1-2). ) on the top surface of the fixed connection. 4.根据权利要求1或3中所述的一种空间机械臂末端位姿精度测试装置，其特征在于：压环组件(1-2)包括压环连接件(1-2-1)、第一压环(1-2-2)和第二压环(1-2-3)，压环连接件(1-2-1)下表面的左右两端分别安装有第一压环(1-2-2)和第二压环(1-2-3)，压环连接件(1-2-1)与支架(1-1)的第一横梁(1-1-1)的中心位置固定连接，空间机械臂(A)的一侧同时安装在第一压环(1-2-2)内和第二压环(1-2-3)内。4. A device for testing the position and attitude accuracy of the end of a space manipulator according to claim 1 or 3, characterized in that: the pressure ring assembly (1-2) comprises a pressure ring connector (1-2-1), a first A pressure ring (1-2-2) and a second pressure ring (1-2-3), the left and right ends of the lower surface of the pressure ring connector (1-2-1) are respectively installed with a first pressure ring (1- 2-2) and the second pressure ring (1-2-3), the center position of the pressure ring connector (1-2-1) and the first beam (1-1-1) of the bracket (1-1) is fixed Connection, one side of the space manipulator (A) is installed in the first pressure ring (1-2-2) and the second pressure ring (1-2-3) at the same time. 5.根据权利要求1中所述的一种空间机械臂末端位姿精度测试装置，其特征在于：地脚(1-3)的数量为四个或八个。5 . The device for testing the position and attitude accuracy of the end of a space manipulator according to claim 1 , wherein the number of ground feet ( 1 - 3 ) is four or eight. 6 . 6.根据权利要求3或5中所述的一种空间机械臂末端位姿精度测试装置，其特征在于：每根第二横梁(1-1-2)的下表面左右两端分别安装有一个或多个地脚1-3。6. The device for testing the position and attitude accuracy of the end of a space manipulator according to claim 3 or 5, wherein the left and right ends of the lower surface of each second beam (1-1-2) are respectively installed with a or multiple feet 1-3. 7.根据权利要求1中所述的一种空间机械臂末端位姿精度测试装置，其特征在于：支撑组件(2-2)包括第一调心轴承(2-2-1)、气浮支撑轴(2-2-2)、锁紧力螺母(2-2-3)和气浮支撑套筒(2-2-4)，气浮支撑轴(2-2-2)的一端通过第一调心轴承(2-2-1)与第三压环(2-1)连接，气浮支撑轴(2-2-2)的另一端插装在气浮支撑套筒(2-2-4)内，锁紧力螺母(2-2-3)安装在气浮支撑轴(2-2-2)与气浮支撑套筒(2-2-4)的连接处。7. The device for testing the position and attitude accuracy of the end of a space manipulator according to claim 1, wherein the support assembly (2-2) comprises a first self-aligning bearing (2-2-1), an air-floating support The shaft (2-2-2), the locking force nut (2-2-3) and the air-bearing support sleeve (2-2-4), one end of the air-bearing support shaft (2-2-2) passes through the first adjustment The core bearing (2-2-1) is connected with the third pressure ring (2-1), and the other end of the air bearing support shaft (2-2-2) is inserted into the air bearing support sleeve (2-2-4) Inside, the locking force nut (2-2-3) is installed at the connection between the air bearing support shaft (2-2-2) and the air bearing support sleeve (2-2-4). 8.根据权利要求1或7中所述的一种空间机械臂末端位姿精度测试装置，其特征在于：基座组件(2-3)包括底板(2-3-1)、多个第二调心轴承(2-3-2)、多个气浮轴承(2-3-3)和多个连接件，底板(2-3-1)为矩形板体，矩形板体的一角处加工为圆心位于矩形板体外侧的圆弧形，其余三角处均加工有一个通孔，每个连接件均穿过对应的通孔与每个第二调心轴承(2-3-2)连接，每个第二调心轴承(2-3-2)的下端均与每个气浮轴承(2-3-3)固定连接，气浮支撑套筒(2-2-4)的下端固定安装在底板(2-3-1)上。8. A device for testing the position and attitude accuracy of the end of a space manipulator according to claim 1 or 7, wherein the base assembly (2-3) comprises a bottom plate (2-3-1), a plurality of second Self-aligning bearings (2-3-2), multiple air bearings (2-3-3) and multiple connectors, the bottom plate (2-3-1) is a rectangular plate body, and one corner of the rectangular plate body is processed as A circular arc with the center of the circle located on the outside of the rectangular plate body, a through hole is machined at the remaining triangles, and each connecting piece is connected to each second self-aligning bearing (2-3-2) through the corresponding through hole. The lower ends of the second self-aligning bearings (2-3-2) are fixedly connected to each air bearing (2-3-3), and the lower ends of the air bearing support sleeves (2-2-4) are fixedly installed on the bottom plate (2-3-1) on. 9.根据权利要求1中所述的一种空间机械臂末端位姿精度测试装置，其特征在于：它还包括激光跟踪仪，激光跟踪仪安装在底座(5)的上表面上。9. The device for testing the position and attitude accuracy of the end of a space manipulator according to claim 1, characterized in that: it further comprises a laser tracker, which is installed on the upper surface of the base (5). 10.根据权利要求1中所述的一种空间机械臂末端位姿精度测试装置，其特征在于：空间机械臂(A)为七自由度空间机械臂。10 . The device for testing the position and attitude accuracy of the end of a space manipulator according to claim 1 , wherein the space manipulator (A) is a seven-degree-of-freedom space manipulator. 11 .
CN202210247263.7A 2022-03-14 2022-03-14 Terminal position appearance precision testing arrangement of space arm Active CN114459356B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210247263.7A CN114459356B (en) 2022-03-14 2022-03-14 Terminal position appearance precision testing arrangement of space arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210247263.7A CN114459356B (en) 2022-03-14 2022-03-14 Terminal position appearance precision testing arrangement of space arm

Publications (2)

Publication Number Publication Date
CN114459356A true CN114459356A (en) 2022-05-10
CN114459356B CN114459356B (en) 2023-03-24

Family

ID=81417177

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210247263.7A Active CN114459356B (en) 2022-03-14 2022-03-14 Terminal position appearance precision testing arrangement of space arm

Country Status (1)

Country Link
CN (1) CN114459356B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117086852A (en) * 2023-09-14 2023-11-21 成都飞机工业（集团）有限责任公司 A robotic arm system for ground verification

Citations (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005283600A (en) * 2005-06-13 2005-10-13 Kawasaki Heavy Ind Ltd Position and orientation detection device for movable body
CN1818537A (en) * 2006-03-17 2006-08-16 哈尔滨工业大学 Precisive determining system of mechanical arm location and gesture in space
CN101865655A (en) * 2010-05-26 2010-10-20 哈尔滨工业大学 Measurement method of six-dimensional pose accuracy of space manipulator based on air flotation system
DE102010031248A1 (en) * 2010-07-12 2012-01-12 Kuka Roboter Gmbh Method for measuring a robot arm of an industrial robot
CN103895023A (en) * 2014-04-04 2014-07-02 中国民航大学 Mechanical arm tail end tracking and measuring system and method based on coding azimuth device
DE102013222456A1 (en) * 2013-11-05 2015-05-07 Kuka Laboratories Gmbh Method for programming the motion sequences of a redundant industrial robot and associated industrial robots
CN105345841A (en) * 2015-11-24 2016-02-24 北京精密机电控制设备研究所 Air flotation supporting device for space manipulator
CN105522589A (en) * 2015-11-06 2016-04-27 中国矿业大学 Modular foldable-type mechanical arm unit
CN105551366A (en) * 2015-12-16 2016-05-04 北京精密机电控制设备研究所 Ground microgravity equivalent experimental device and method of six-freedom-degree spatial mechanical arm
CN105798909A (en) * 2016-04-29 2016-07-27 上海交通大学 Calibration system and method of zero position of robot based on laser and vision
US20170276472A1 (en) * 2015-05-06 2017-09-28 Faro Technologies, Inc. Three-dimensional measuring device removably coupled to robotic arm on motorized mobile platform
CN109605372A (en) * 2018-12-20 2019-04-12 中国铁建重工集团有限公司 A kind of method and system of the pose for survey engineering mechanical arm
CN110926843A (en) * 2019-12-18 2020-03-27 北京理工大学 Ground Microgravity Equivalent Experiment Device and Experiment Method of Seven Degrees of Freedom Space Manipulator
WO2020097685A1 (en) * 2018-11-14 2020-05-22 Fastbrick Ip Pty Ltd Position and orientation tracking system
CN210819622U (en) * 2019-07-24 2020-06-23 哈尔滨工业大学（深圳） Large-scale space high-precision online calibration system of mobile operation robot
CN112247959A (en) * 2020-09-16 2021-01-22 北京卫星制造厂有限公司 High-precision automatic assembling method for space unfolding arm
CN213165391U (en) * 2020-09-09 2021-05-11 江苏沪云激光设备有限公司 Mechanical arm with adjustable use height
WO2021174022A1 (en) * 2020-02-27 2021-09-02 The Curators Of The University Of Missouri Method and apparatus for metrology-in-the loop robot control
CN113532318A (en) * 2021-07-13 2021-10-22 燕山大学 Three-dimensional scanning system and method for positioning by using multiple groups of laser trackers

Patent Citations (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005283600A (en) * 2005-06-13 2005-10-13 Kawasaki Heavy Ind Ltd Position and orientation detection device for movable body
CN1818537A (en) * 2006-03-17 2006-08-16 哈尔滨工业大学 Precisive determining system of mechanical arm location and gesture in space
CN101865655A (en) * 2010-05-26 2010-10-20 哈尔滨工业大学 Measurement method of six-dimensional pose accuracy of space manipulator based on air flotation system
DE102010031248A1 (en) * 2010-07-12 2012-01-12 Kuka Roboter Gmbh Method for measuring a robot arm of an industrial robot
DE102013222456A1 (en) * 2013-11-05 2015-05-07 Kuka Laboratories Gmbh Method for programming the motion sequences of a redundant industrial robot and associated industrial robots
CN103895023A (en) * 2014-04-04 2014-07-02 中国民航大学 Mechanical arm tail end tracking and measuring system and method based on coding azimuth device
US20170276472A1 (en) * 2015-05-06 2017-09-28 Faro Technologies, Inc. Three-dimensional measuring device removably coupled to robotic arm on motorized mobile platform
CN105522589A (en) * 2015-11-06 2016-04-27 中国矿业大学 Modular foldable-type mechanical arm unit
CN105345841A (en) * 2015-11-24 2016-02-24 北京精密机电控制设备研究所 Air flotation supporting device for space manipulator
CN105551366A (en) * 2015-12-16 2016-05-04 北京精密机电控制设备研究所 Ground microgravity equivalent experimental device and method of six-freedom-degree spatial mechanical arm
CN105798909A (en) * 2016-04-29 2016-07-27 上海交通大学 Calibration system and method of zero position of robot based on laser and vision
WO2020097685A1 (en) * 2018-11-14 2020-05-22 Fastbrick Ip Pty Ltd Position and orientation tracking system
CN109605372A (en) * 2018-12-20 2019-04-12 中国铁建重工集团有限公司 A kind of method and system of the pose for survey engineering mechanical arm
CN210819622U (en) * 2019-07-24 2020-06-23 哈尔滨工业大学（深圳） Large-scale space high-precision online calibration system of mobile operation robot
CN110926843A (en) * 2019-12-18 2020-03-27 北京理工大学 Ground Microgravity Equivalent Experiment Device and Experiment Method of Seven Degrees of Freedom Space Manipulator
WO2021174022A1 (en) * 2020-02-27 2021-09-02 The Curators Of The University Of Missouri Method and apparatus for metrology-in-the loop robot control
CN213165391U (en) * 2020-09-09 2021-05-11 江苏沪云激光设备有限公司 Mechanical arm with adjustable use height
CN112247959A (en) * 2020-09-16 2021-01-22 北京卫星制造厂有限公司 High-precision automatic assembling method for space unfolding arm
CN113532318A (en) * 2021-07-13 2021-10-22 燕山大学 Three-dimensional scanning system and method for positioning by using multiple groups of laser trackers

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
樊绍巍等: "同步三指式末端执行器的目标位姿估计方法", 《哈尔滨工程大学学报》 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117086852A (en) * 2023-09-14 2023-11-21 成都飞机工业（集团）有限责任公司 A robotic arm system for ground verification

Also Published As

Publication number Publication date
CN114459356B (en) 2023-03-24

Similar Documents

Publication Publication Date Title
CN110733617B (en) Cabin section assembling platform and cabin section assembling method
CN102313516B (en) Measuring tool for spatial coordinate of spherical center of top end of follow-up positioner and measuring method thereof
CN106043736B (en) A kind of series-parallel connection mechanical structure and attitude-adjusting method for aircraft component attitude adjusting
CN100363707C (en) Space Manipulator Pose Accuracy Test System
CN109732596A (en) Industrial robot rigidity identification system based on six-dimensional virtual joint model and identification method thereof
CN104229158A (en) Six-degree-of-freedom positioning gesture adjusting equipment used for automatic assembling of large barrel-shaped thin-wall construction member
CN102802883A (en) Calibration of a base coordinate system for an industrial robot
JP2006133235A (en) Method of performing measurement or calibration on positioning machine
JPH05237732A (en) Machine tool frame, machine tool and servo-strut used therein
WO2019148895A1 (en) Position precision measuring device and method for mechanical arm
CN116295171B (en) Cradle type turntable assembly precision detection device and detection method
TWI639494B (en) Method and apparatus for robot calibration
US11543230B2 (en) Articulating probe
CN114459356A (en) Device for testing end pose precision of space mechanical arm
JPS62272186A (en) Device for conducting operation regarding workpiece
JP2012083192A (en) Calibration method and calibration jig for three-dimensional measuring machines
CN114295051B (en) Automatic positioning device and method for harmonic coil magnetic field measurement
CN211696245U (en) A Video Measuring Instrument Based on Tsai Parallel Mechanism
CN119079137B (en) Helicopter tooth sleeve part axis pose adjustment method based on eddy current ranging
CN202171443U (en) Measuring tool of top sphere center spatial coordinate of follow-up locater
CN204679828U (en) The locating device of free form surface thin-walled parts
CN1009861B (en) Workpiece position controller
CN116067302B (en) Pipe fitting three-dimensional dimension universe scanning detection system and method based on laser scanning
CN118454127A (en) Six-dimensional bed precision testing method
CN111272072A (en) A video measuring method and measuring instrument based on Tsai parallel mechanism

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant