利用滑轮组的关节刚度工况快换测试设备研制

Development of Quick Working Condition Change Test Equipment for Joint Stiffness Using Pulley Block

空间大型机械臂的关节刚度是关节测试的重要指标,直接影响机械臂的使用性能。对于体积、重量大的关节,希望在不同测试工况中减少关节的拆卸和搬运。研制了一套可以快速切换测试工况的关节刚度测试设备,用于测定机械臂关节的弯曲刚度。通过滑轮组的设计,可以把不同测试工况下的加载力固定在一个位置,仅需改变钢丝绳路径即可更换测试方向。设备结构紧凑、操作简便、安全性高。对影响设备测试精度的参数进行了误差分析并给出了用以指导加工及装配的误差范围,证明了方法的可用性与准确性。最终完成关节的刚度测试实验。结果表明:实验测得的刚度值与实际值相差在5%范围以内,符合设计与使用要求。

The joint stiffness of large space manipulators is an important indicator of joint testing and directly affects the performance of the manipulator.For bulky joints,it is desirable to reduce joint disassembly and handling in different test conditions.A set of joint stiffness testing equipment that can quickly switch the test conditions is developed to determine the bending stiffness of the joint of the manipulator.Through the design of the pulley block,the loading force under different test conditions can be fixed in one position,and the test direction can be replaced only by changing the wire rope path.The device is compact in structure,easy to operate and safe.The error analysis of the parameters affecting the accuracy of equipment testing and the error range to guide the processing and assembly are given,which proves the availability and accuracy of the method.Finally,the stiffness test of the joint was completed.The results show that the measured stiffness value and the actual value are within 5%,which meets the design and application requirements.