CN117208238B - Ground simulation experiment system for assembly of three-legged space robot - Google Patents
Ground simulation experiment system for assembly of three-legged space robot Download PDFInfo
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- CN117208238B CN117208238B CN202311179405.1A CN202311179405A CN117208238B CN 117208238 B CN117208238 B CN 117208238B CN 202311179405 A CN202311179405 A CN 202311179405A CN 117208238 B CN117208238 B CN 117208238B
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- 238000004088 simulation Methods 0.000 title claims abstract description 22
- 238000003780 insertion Methods 0.000 claims abstract description 43
- 230000037431 insertion Effects 0.000 claims abstract description 43
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 238000001514 detection method Methods 0.000 claims description 13
- 230000005484 gravity Effects 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000012795 verification Methods 0.000 abstract description 5
- 238000002474 experimental method Methods 0.000 abstract description 4
- 238000009434 installation Methods 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000004809 Teflon Substances 0.000 description 1
- 229920006362 Teflon® Polymers 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
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Abstract
The invention relates to the technical field of robots, in particular to a ground simulation experiment system assembled by a three-foot space robot, which comprises a sliding plane, the three-foot robot and a plurality of assembling modules; the three-legged robot is provided with a sliding device; the three-legged robot comprises a trunk and three branch mechanisms; the branch mechanism comprises an arm body, a first electric joint, a second electric joint and a grabbing mechanism; the first electric joint and the second electric joint are respectively positioned at two ends of the arm body, and are fixedly connected with the arm body; the first electric joint is connected with the grabbing mechanism; the second electric joint is connected with the trunk; the rotation axis of the grabbing mechanism is parallel to the rotation axis of the arm body; the assembly module is provided with an insertion part and an insertion groove, and the insertion part and the insertion groove are used for splicing adjacent assembly modules; the ground simulation experiment system for the assembly of the three-legged space robot can provide guidance for designing a related experiment verification platform, and meanwhile, the cost is low.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a ground simulation experiment system for assembling a three-legged space robot.
Background
With the complexity of aerospace tasks, the space structure tends to be large and modularized, such as a large space telescope, a space solar power station and the like. However, large space structures are limited in size and carrying capacity, and finished launches cannot be manufactured from earth with vehicles, and only modular launch-in-orbit assembly construction can be used. Moreover, the task requirements of on-orbit maintenance tasks, operation monitoring and the like faced by large space structures are increasingly complex and diversified. With the development of robot technology, space robots are becoming a feasible way of on-orbit assembly and service, and have received a great deal of attention from many students.
At present, few experimental systems for assembling space structures are provided, and verification experimental approaches are lacking for related technologies, so that a ground simulation experimental system technology for assembling space structures needs to be provided, and guidance can be provided for designing related experiment verification platforms.
Disclosure of Invention
The invention aims to solve the technical problem of providing the ground simulation experiment system for the assembly of the three-legged space robot, which can provide guidance for designing a related experiment verification platform and has low cost.
In order to solve the problems, the invention adopts the following technical scheme:
a three-legged space robot assembly ground simulation experiment system, comprising: a planing plane, a tripod robot and a plurality of assembly modules;
the three-foot robot is provided with a sliding device which is used for sliding on the sliding plane and providing supporting force for the three-foot robot to counteract gravity;
the three-legged robot comprises a trunk and three branch mechanisms;
Three of the branches are arranged on the trunk in a rotationally symmetrical distribution;
The trunk is provided with a control assembly;
The branch mechanism comprises an arm body, a first electric joint, a second electric joint and a grabbing mechanism, wherein the first electric joint, the second electric joint and the grabbing mechanism are electrically connected with the control assembly;
the first electric joint and the second electric joint are respectively positioned at two ends of the arm body, and both the first electric joint and the second electric joint are fixedly connected with the arm body;
The first electric joint is connected with the grabbing mechanism and is used for driving the grabbing mechanism to rotate;
The second electric joint is connected with the trunk and is used for driving the arm body to rotate;
the rotation axis of the grabbing mechanism is parallel to the rotation axis of the arm body;
The assembly module is provided with an insertion part and an insertion groove, and the insertion part and the insertion groove are used for splicing adjacent assembly modules.
In one embodiment, the method further comprises: a support frame;
the support frame is used for supporting the assembly module so that the assembly module is suspended above the sliding plane.
In one embodiment, the method further comprises: the device comprises a detection device and a terminal;
the detection device is electrically connected with the terminal and is used for measuring coupling vibration generated by the assembly module in the task.
In one embodiment, the skid has three skid units, each of which is fixed to three of the branches.
In one embodiment, the runner includes a foot rest and a universal wheel;
the universal wheel is fixedly connected with the foot rest, the foot rest is positioned below the first electric joint, and the foot rest is fixedly connected with the arm body.
In one embodiment, the assembly module comprises a plurality of first articulation cubes, a plurality of second articulation cubes, and a plurality of primary connecting rods;
The main connecting rod is fixedly connected with the first cubic joint and the second cubic joint and forms a cubic frame body;
The insertion portion is located on the first cubic joint side face, and the insertion groove is located on the second cubic joint side face.
In one embodiment, the cubic frame body is provided with a first auxiliary connecting rod and a second auxiliary connecting rod;
The first auxiliary connecting rod and the second auxiliary connecting rod are respectively positioned at two opposite faces of the cubic frame body.
In one embodiment, the first secondary connecting rod and the second secondary connecting rod are distributed in an X shape.
In one embodiment, the middle parts of the first auxiliary connecting rod and the second auxiliary connecting rod are respectively provided with a grabbing point for grabbing by the grabbing mechanism.
In one embodiment, a first magnet body is arranged at one end of the insertion part far away from the assembly module, and a second magnet body is arranged in the insertion groove;
When adjacent assembly modules are connected, the first magnet body and the second magnet body are attracted to each other.
The beneficial effects of the present disclosure are: the ground simulation experiment system for the assembled space structure can provide guidance for designing a related experiment verification platform. Simultaneously, the sliding device is used for gravity balance, and the three-foot robot can be supported in three degrees of freedom in translation and rotation on a plane. The sliding device slides on the platform to provide supporting force for the tripod robot to counteract gravity, simulation time is not limited, and meanwhile cost is low.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present disclosure and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 illustrates an overall structural schematic of a three-legged space robot assembly ground simulation experiment system in accordance with at least one embodiment of the present disclosure.
Fig. 2 illustrates a perspective view of a tripod robot according to at least one embodiment of the present disclosure.
Fig. 3 illustrates a bottom view of a tripod robot in accordance with at least one embodiment of the present disclosure.
Fig. 4 illustrates a partial structural schematic of a tripod robot according to at least one embodiment of the present disclosure.
Fig. 5 illustrates a partial structural schematic of a tripod robot according to at least one embodiment of the present disclosure.
Fig. 6 illustrates a perspective view of an assembly module in accordance with at least one embodiment of the present disclosure.
Fig. 7 illustrates a partial structural schematic of an assembly module in accordance with at least one embodiment of the present disclosure.
Fig. 8 illustrates a schematic arrangement of a detection device in accordance with at least one embodiment of the present disclosure.
In the figure:
1. A sliding plane;
2. A three-legged robot; 21. a torso; 22. a branch mechanism; 211. a control assembly; 221. an arm body; 222. a first electric joint; 223. a second electric joint; 224. a grabbing mechanism; 2241. a positioning frame; 2242. a digital steering engine; 2243. a gripper; 2233. a connecting plate;
3. Assembling a module; 31. an insertion section; 32. an insertion groove; 33. a first cube joint; 34. a second joint cube; 35. a main connecting rod; 36. a first secondary connecting rod; 37. a second secondary connecting rod; 38. grabbing points; 311. a first magnet body;
4. a runner; 41. a foot rest; 42. a universal wheel;
5. A support frame;
6. And a detection device.
Detailed Description
The exemplary embodiments of the present disclosure may be variously modified. Accordingly, various example embodiments are shown in the drawings and described in more detail. It will be understood, however, that the present disclosure is not limited to the particular example embodiments, but includes all modifications, equivalents, and alternatives falling within the scope and spirit of the disclosure.
Referring to fig. 1 to 7, a first embodiment of the present application provides a three-legged space robot assembly ground simulation experiment system, which includes a sliding plane 1, a three-legged robot 2, and a plurality of assembly modules 3.
The three-legged robot 2 is provided with the sliding device 4, and the sliding device 4 is used for gravity balance, so that the three-legged robot can be supported by translating and rotating on a plane in three degrees of freedom. The runner 4 slides on the platform to provide a supporting force to the tripod robot to counteract the gravity. The scheme has the advantages of unlimited simulation time and low cost.
In order to reduce the influence of friction, the sliding plane is made of teflon with a small friction coefficient.
Specifically, the three-legged robot 2 includes a trunk 21 and three branches 22.
Three branches 22 are arranged on the trunk 21 in a rotationally symmetrical distribution; the trunk 21 is provided with a control assembly 211; the branch mechanism 22 comprises an arm body 221, a first electric joint 222, a second electric joint 223 and a grabbing mechanism 224, and the grabbing mechanism 224 is electrically connected with the control assembly 211; the first electric joint 222 and the second electric joint 223 are respectively positioned at two ends of the arm body 221, and the first electric joint 222 and the second electric joint 223 are fixedly connected with the arm body 221; the first electric joint 222 is connected with the grabbing mechanism 224, and the first electric joint 222 is used for driving the grabbing mechanism 224 to rotate; the second electric joint 223 is connected with the trunk, and the second electric joint 223 is used for driving the arm body 221 to rotate; the rotational axis of the grasping mechanism 224 is parallel to the rotational axis of the arm 221.
The control assembly 211 includes a power source (not shown) and a control board (not shown), the first electric joint 222 and the second electric joint 223 are brushless servo motors with encoders, and the first electric joint 222 and the second electric joint 223 are connected with the control board through a CAN bus. The control board receives information such as the angle, the angular speed, the moment and the like of the encoder, calculates a control instruction according to feedback, and then controls the angle, the angular speed and the speed by sending CAN frame data.
The rotation shaft of the second electric joint 223 is fixedly connected with the trunk.
Specifically, the assembly module 3 includes a plurality of first cubic joints 33, a plurality of second cubic joints 34, and a plurality of main connecting rods 35; the main connecting rod is fixedly connected with the first cubic joint 33 and the second cubic joint 34 and forms a cubic frame body.
The assembly module 3 is provided with an insertion portion 31 and an insertion groove 32, and the insertion portion 31 and the insertion groove 32 are used for splicing adjacent assembly modules 3.
The insertion portion 31 is located on the first articulation side and the insertion slot 32 is located on the second articulation cube 34 side.
The cube frame body is provided with a first subsidiary connecting rod 36 and a second subsidiary connecting rod 37.
The first and second secondary connecting rods 36, 37 are located at two opposite faces of the cube frame body, respectively. The first and second subsidiary connecting rods 36 and 37 are distributed in an X-shape.
The middle parts of the first auxiliary connecting rod 36 and the second auxiliary connecting rod 37 are respectively provided with a grabbing point 38, and the grabbing points 38 are used for grabbing by the grabbing mechanism 224.
The insertion portion 31 has a first magnet 311 at an end thereof remote from the assembly module 3, and a second magnet (not shown) disposed in the insertion groove 32. The insertion portion 31 is tapered.
When adjacent assembly modules 3 are connected, the first magnet 311 and the second magnet attract each other. The magnetic connection is easy to realize, the assembly module can be assisted to complete close-range butt joint after the assembly module approaches, and even if certain errors exist in the installation operation, the installation can still be successfully completed, so that the magnetic connection device has better error redundancy.
When the assembly module is applied, when the insertion part 31 of the assembly module approaches the insertion groove 32 of the other assembly module, the suction force generated by the first magnet body 311 and the second magnet body can enable the insertion part 31 to be sucked into the insertion groove 32, so that the assembly is realized, and the structure is simpler through the installation mode of magnetic attraction, and the magnet can bear a certain load.
In particular, the skid 4 has three, and the three skids 4 are respectively fixed to the three branches 22.
The runner 4 comprises a foot rest 41 and a universal wheel 42; the universal wheel 42 is fixedly connected with the foot rest 41, the foot rest 41 is positioned below the first electric joint 222, and the foot rest 41 is fixedly connected with the arm body 221.
Specifically, the grabbing mechanism 224 includes a positioning frame 2241, a digital steering engine 2242 and a grabber 2243, a connecting plate 2233 is fixedly disposed on an output shaft of the digital steering engine 2242, the connecting plate 2233 is fixedly connected with an output shaft of the first electric joint 222, and the grabber 2243 is fixed on the positioning frame 2241. The digital steering engine 2242 is connected with the control board, and the digital steering engine 2242 performs angle control using PWM signals. The digital steering engine 2242 is mainly used for aligning the insertion portion 31 and the insertion groove 32.
In use, the digital steering engine 2242 is capable of rotating the assembly module 3 such that the insertion portion 31 and the insertion groove 32 are aligned, completing the installation of the two assembly modules 3.
Illustratively, the gripper 2243 employs an electric clamp, and the gripper 2243 has the capability of clamping the gripping point 38, is capable of handling modules for installation, has good versatility, and is capable of performing multiple tasks.
Illustratively, the grippers 2243 employ electromagnets with metal sheets (not shown) on the gripping points 38 that can be attracted by the electromagnets. The electromagnet is controlled to be opened and closed by the control panel to adsorb the metal sheet.
Referring to fig. 8, a second embodiment of the present application provides a ground simulation experiment system assembled by a three-legged space robot, which is substantially the same as the first embodiment, except that: also comprises a supporting frame 5; the support frame 5 is used to support the assembly module 3 such that the assembly module 3 can be suspended above the sliding plane 1.
Referring to fig. 8, a third embodiment of the present application provides a ground simulation experiment system assembled by a three-legged space robot, which is substantially the same as the first embodiment, except that: also comprises a detection device 6 and a terminal (not shown); the detection device 6 is electrically connected with a terminal for receiving detection data of the detection device 6, and the detection device 6 is used for measuring coupling vibration generated by the assembly module 3 in the task. The detection device 6 is inserted into the cube frame.
The detection device 6 uses a laser displacement sensor to perform displacement measurement and record the displacement response of the structure.
When the robot is applied, the three-legged robot advances with one assembly module, and the other two legs advance on the assembly module according to the planned biped walking gait, so that the assembly module is moved from the first assembly module to the last assembly module of the assembled structure. After reaching the last assembly module, one foot of the tripod robot 2 is fixedly connected with the assembled structure, and the carried assembly module is mounted on the assembled structure. The installation process is to align the insertion part and the insertion groove first, then insert the insertion part into the insertion groove in a straight line, and complete the assembly under the action of magnetic attraction.
The three-legged robot can walk on the assembly module according to the input gait instruction, and carry the assembly module and assemble the task of the assembly module. In the process, the motion of the tripod robot can generate a reaction force on the assembled structure, under the reaction force, the module generates coupling vibration, and the vibration can be measured through the laser displacement sensor, so that the generation reason of the vibration is analyzed, the vibration amplitude and the frequency factors are influenced, the follow-up vibration control is realized, and a theoretical basis is provided for the integrated control of the space structure-assembled robot.
The above-disclosed subject matter is to be considered illustrative, and not restrictive, and the appended claims are intended to cover all such modifications, enhancements, and other embodiments, which fall within the true spirit and scope of the present inventive concepts. Thus, to the maximum extent allowed by law, the scope is to be determined by the broadest permissible interpretation of the following claims and their equivalents, and shall not be restricted or limited by the foregoing detailed description.
Claims (7)
1. The utility model provides a tripodia space robot equipment ground simulation experiment system which characterized in that includes: the robot comprises a sliding plane, a supporting frame, a three-legged robot and a plurality of assembling modules;
the three-foot robot is provided with a sliding device which is used for sliding on the sliding plane and providing supporting force for the three-foot robot to counteract gravity;
the three-legged robot comprises a trunk and three branch mechanisms;
Three of the branches are arranged on the trunk in a rotationally symmetrical distribution;
The trunk is provided with a control assembly;
The branch mechanism comprises an arm body, a first electric joint, a second electric joint and a grabbing mechanism, wherein the first electric joint, the second electric joint and the grabbing mechanism are electrically connected with the control assembly;
the first electric joint and the second electric joint are respectively positioned at two ends of the arm body, and both the first electric joint and the second electric joint are fixedly connected with the arm body;
The first electric joint is connected with the grabbing mechanism and is used for driving the grabbing mechanism to rotate;
The second electric joint is connected with the trunk and is used for driving the arm body to rotate;
the rotation axis of the grabbing mechanism is parallel to the rotation axis of the arm body;
The assembly module is provided with an insertion part and an insertion groove, and the insertion part and the insertion groove are used for splicing adjacent assembly modules;
The support frame is used for supporting the assembly module so that the assembly module is suspended above the sliding plane;
The sliding devices are three, and the three sliding devices are respectively fixed on the three branch mechanisms;
The sliding device comprises a foot rest and universal wheels;
the universal wheel is fixedly connected with the foot rest, the foot rest is positioned below the first electric joint, and the foot rest is fixedly connected with the arm body.
2. The three-legged space robot assembly ground simulation experiment system according to claim 1, further comprising: the device comprises a detection device and a terminal;
the detection device is electrically connected with the terminal and is used for measuring coupling vibration generated by the assembly module in the task.
3. The ground simulation experiment system of the three-legged space robot assembly according to claim 2, wherein the assembly module comprises a plurality of first cubic joints, a plurality of second cubic joints and a plurality of main connecting rods;
The main connecting rod is fixedly connected with the first cubic joint and the second cubic joint and forms a cubic frame body;
The insertion portion is located on the first cubic joint side face, and the insertion groove is located on the second cubic joint side face.
4. A three-legged space robot assembly ground simulation experiment system according to claim 3, wherein the cubic frame body is provided with a first auxiliary connecting rod and a second auxiliary connecting rod;
The first auxiliary connecting rod and the second auxiliary connecting rod are respectively positioned at two opposite faces of the cubic frame body.
5. The ground simulation experiment system of the three-legged space robot assembly according to claim 4, wherein the first auxiliary connecting rod and the second auxiliary connecting rod are distributed in an X shape.
6. The ground simulation experiment system for assembling the three-legged space robot according to claim 5, wherein the middle parts of the first auxiliary connecting rod and the second auxiliary connecting rod are respectively provided with a grabbing point for grabbing by the grabbing mechanism.
7. The ground simulation experiment system of the three-legged space robot assembly according to claim 1, wherein a first magnet body is arranged at one end of the insertion part far away from the assembly module, and a second magnet body is arranged in the insertion groove;
When adjacent assembly modules are connected, the first magnet body and the second magnet body are attracted to each other.
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| CN202311179405.1A CN117208238B (en) | 2023-09-12 | 2023-09-12 | Ground simulation experiment system for assembly of three-legged space robot |
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| CN117208238B true CN117208238B (en) | 2024-05-17 |
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