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Alternative TitleLoad carrying capacity test of the space station redocking manipulator based on the equivalent inertia simulation method
徐志刚; 白鑫林; 王军义; 贺云
Source Publication机器人
Indexed ByEI ; CSCD
EI Accession number20152300924826
Contribution Rank1
Keyword空间站转位机械臂 超大转动惯量模拟 等效转动惯量 动力学等效 性能测试
Other AbstractIn a ground test, it is hard to conduct a full-physical simulation of function modules of a space station because of the great volume of space, the difficulties of weightlessness simulation and the huge cost. A test method based on the equivalent inertia simulation is proposed, which makes the volume of load inertia much smaller and reduces the difficulties of its micro-gravity space environment simulation. Inertia simulator, a mechanical mechanism mainly composed of gas bearings and a planet-gear increaser, is designed, and a mathematic model of the equivalent load of the inertia simulator based on the equivalent dynamics theory is established. Finally, simulation results show that the method is effective and can achieve the same joint torque loads of the space station redocking manipulator just as in space translocation. The relative errors of load torque of wrist joint and shoulder joint, respectively, are less than 4.61% and 1.33% and the maximum simulation errors of rotation inertia of wrist joint and shoulder joint, respectively, are 4.52% and 1.03%, which shows that the method can achieve a valid load bearing performance test of the space redocking manipulator.
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Document Type期刊论文
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GB/T 7714
徐志刚,白鑫林,王军义,等. 基于等效惯量模拟的空间站转位机械臂承载性能测试[J]. 机器人,2015,37(2):231-236.
APA 徐志刚,白鑫林,王军义,&贺云.(2015).基于等效惯量模拟的空间站转位机械臂承载性能测试.机器人,37(2),231-236.
MLA 徐志刚,et al."基于等效惯量模拟的空间站转位机械臂承载性能测试".机器人 37.2(2015):231-236.
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