CN114459356A - Device for testing end pose precision of space mechanical arm - Google Patents
Device for testing end pose precision of space mechanical arm Download PDFInfo
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- 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
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- 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
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- 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
Abstract
The invention relates to a device for testing the pose precision of the tail end of a space manipulator, in particular to a device for testing the pose precision of the tail end of a seven-degree-of-freedom space manipulator relative to a manipulator base, which aims to solve the problem that the tail end of the existing space manipulator cannot realize high-precision pose measurement in one step, and comprises an inverted concave bracket, a pressure ring assembly and a plurality of feet, wherein the pressure ring assembly is fixedly arranged at the top end of the bracket, the feet are respectively and fixedly arranged with the bottom ends of two sides of the bracket, a manipulator supporting device comprises a third pressure ring, a supporting assembly and a base assembly, the third pressure ring, the supporting assembly and the base assembly are sequentially and fixedly connected from top to bottom, the manipulator supporting device is positioned below the pressure ring assembly, one side of the space manipulator is arranged in the pressure ring assembly, the other side of the space manipulator is arranged in the third pressure ring, a tail end target and a base target are respectively arranged at two tail ends of the space manipulator, the bottom surfaces of the feet and the bottom surface of the lowest end of the base component are positioned in the same plane.
Description
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. The utility model provides a terminal position appearance precision testing arrangement of space arm which characterized in that: the robot comprises a mechanical arm fixing device (1), a mechanical arm supporting device (2), a tail 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 feet (1-3), wherein the pressure ring assembly (1-2) is fixedly installed at the top end of the support (1-1), the length direction of the pressure ring assembly (1-2) is perpendicular to the length direction of the support (1-1), and the feet (1-3) are respectively and fixedly installed at the bottom ends of two sides of the support (1-1);
the mechanical arm supporting device (2) comprises a third pressure ring (2-1), a supporting assembly (2-2) and a base assembly (2-3), wherein the third pressure ring (2-1), the supporting assembly (2-2) and the base assembly (2-3) are fixedly connected from top to bottom in sequence;
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), the other side of the space mechanical arm (A) is installed in the third pressure ring (2-1), the length direction of the space mechanical arm (A) is perpendicular to the length direction of the mechanical arm fixing device (1), the tail end target (3) and the base target (4) are fixedly installed at two tail ends of the space mechanical arm (A) respectively, and the bottom surfaces of the multiple ground feet (1-3) and the bottom surface of the lowest end of the base assembly (2-3) are located in the same plane.
2. The device for testing the end pose accuracy of the space manipulator according to claim 1, characterized in that: the mechanical arm fixing device is characterized by further comprising a base (5), wherein the base (5) is rectangular, and the mechanical arm fixing device (1) and the mechanical arm supporting device (2) are both installed on the upper surface of the base (5).
3. The device for testing the end pose accuracy of the space manipulator according to claim 1, characterized in that: the support (1-1) comprises a first beam (1-1-1) and a plurality of second beams (1-1-2), the reinforcing structure comprises a plurality of stand columns (1-1-3) and a plurality of reinforcing ribs (1-1-4), wherein the stand columns (1-1-3) are vertically arranged at two ends of the lower surface of a first cross beam (1-1-1), the bottom end of each stand column (1-1-3) is 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 stand column (1-1-3), and 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).
4. The space manipulator end pose accuracy test device according to claim 1 or 3, characterized in that: 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 left end and the right end of the lower surface of the pressure ring connecting piece (1-2-1) are respectively provided with the first pressure ring (1-2-2) and the second pressure ring (1-2-3), the pressure ring connecting piece (1-2-1) is fixedly connected with the center position of a first cross beam (1-1-1) of the support (1-1), and one side of the space manipulator (A) is simultaneously arranged in the first pressure ring (1-2-2) and the second pressure ring (1-2-3).
5. The device for testing the end pose accuracy of the space manipulator according to claim 1, characterized in that: the number of the ground feet (1-3) is four or eight.
6. The space manipulator end pose accuracy testing device according to claim 3 or 5, characterized in that: one or more feet 1-3 are respectively arranged at the left end and the right end of the lower surface of each second cross beam (1-1-2).
7. The device for testing the end pose accuracy of the space manipulator according to claim 1, characterized in that: the supporting assembly (2-2) comprises a first self-aligning bearing (2-2-1), an air floatation supporting shaft (2-2-2), a locking force nut (2-2-3) and an air floatation supporting sleeve (2-2-4), one end of the air floatation supporting shaft (2-2-2) is connected with a third pressing ring (2-1) through the first self-aligning bearing (2-2-1), the other end of the air floatation supporting shaft (2-2-2) is inserted into the air floatation supporting sleeve (2-2-4), and the locking force nut (2-2-3) is installed at the connecting position of the air floatation supporting shaft (2-2-2) and the air floatation supporting sleeve (2-2-4).
8. The space manipulator end pose accuracy test device according to claim 1 or 7, characterized in that: 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, one corner of the rectangular plate body is processed into a circular arc with the circle center positioned on the outer side of the rectangular plate body, the other corners are processed with through holes, 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), and the lower end of an air-floating supporting sleeve (2-2-4) is fixedly installed on the bottom plate (2-3-1).
9. The device for testing the end pose accuracy of the space manipulator according to claim 1, characterized in that: it also comprises a laser tracker which is arranged on the upper surface of the base (5).
10. The device for testing the end pose accuracy of the space manipulator according to claim 1, characterized in that: the space manipulator (A) is a seven-degree-of-freedom space manipulator.
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