摘要
根据机器人学原理,提出了基于测量机械手的舱外航天服手套关节力学特性测试系统的测量原理。设计了基于平行四边形连杆的外骨骼式测量机械手,该机械手刚度大,指节长度可调节,能够围绕航天服手套实现包络运动,且机械手可双向驱动。根据机械手的结构特点,建立了其运动学模型。针对舱外航天服手套柔性关节的转动特性建立了手套二自由度手指的数学模型。最后以基于高速浮点DSP的PCI控制卡为核心建立了测量机械手的控制系统。
A novel method to measure the mechanical characteristics of the Extravehicular activity spacesuit glove （EVA glove） joint by use of robot technology is proposed. A new exoskeleton manipulator based on planar four-bar parallelogram mechanism is developed. This manipulator that can exert forces in two directions has good stiffness and its joint can rotate about a fixed center. The length of phalange of manipulator can be regulated for adapting to gloves. Based on the manipulator special mechanical structure a mathematical model of the manipulator is given. Aiming at the characters of flexible joint of EVA glove, a two-degree-of-freedom finger modeling of EVA glove is put forward. A controller architecture is built. The controller kernel is a PCI card, which contains a high-speed float DSP processor.
出处
《南京理工大学学报》
EI
CAS
CSCD
北大核心
2008年第2期171-175,共5页
Journal of Nanjing University of Science and Technology
关键词
舱外航天服手套
外骨骼机械手
柔性关节
extravehicular activity spacesuit glove
exoskeleton manipulator
flexible joint
