摘要
目的对航天服关节阻尼力矩特性进行测试 ,评价航天服的力学性能。方法提出了一种根据机器人运动学、静力学原理 ,采用随动式测量机器人来测量航天服关节阻尼力矩特性的方法。根据测量要求 ,给出了系统总体方案及测量机器人本体的设计 ,建立了数学模型 ,最后分析了机器人的运动空间。结果设计的测量机器人重量轻、结构紧凑、操作性能好、运动空间大 ,整体系统运行稳定 ,可靠性高。结论采用随动式测量机器人来测量航天服关节阻尼力矩特性 ,能够满足航天服关节力矩特性的测量要求。
Objective To measure the joint torque of spacesuit so as to evaluate its dynamic force/torque performance. Method A method for measuring the spacesuit joint torque by use of robot technology was proposed in this paper. The design of the measuring strategy and measuring robot was put forward and a mathematical model of the system was given. Then the working space of the robot was analyzed. Result The robot designed is light, compact, easy to operate, and has a large working space. Experimental results demonstrated the effectiveness of the measuring principle and the reliability of the measuring system. Conclusion The system can satisfy the requirements of the spacesuit joint torque measurement.
出处
《航天医学与医学工程》
CAS
CSCD
北大核心
2003年第3期187-192,共6页
Space Medicine & Medical Engineering
关键词
航天服
测量机器人
测量系统
阻尼力矩
运动空间
spacesuits
measuring robots
measuring system
damping torque
working space