基于六自由度机器人的航天服性能参数测试  

The Measuring System for Spacesuit Joint Damping Parameters Based on6-DOF Robot

作　　者：杜立彬[1] 王昊[1] 高晓辉[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150001

出　　处：《机械工程师》2004年第1期7-11,共5页Mechanical Engineer

摘　　要：介绍了一种基于六自由度测量机器人的航天服性能参数测试系统的测量原理,基于机器人运动学和静力学原理建立了随动式机器人和舱内航天服(IVA)三自由度手臂软关节的数学模型,分析了机器人的工作空间,有效地证明了测试原理的正确性。The paper presents a novel6-DOF passive robot system with6dimension force/torque sensor for measuring spacesuit joint damping parameters.The models of the passive robot and3DOF flexible IVA(intra vehicu-lar activity)spacesuit arm have been built based on robotic kinematics and statics.Working space of the passive robot and moving space of the IVA spacesuit are analysed.Experimental results prove the effective-ness of the measuring principle.Some oth er potential applications of the measuring system are also dis-cussed in the end.

关 键 词：机器人 航天服 阻尼力矩 软关节 

分 类 号：V445.3[航空宇航科学与技术—飞行器设计]