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Analysis and Evaluation on Unloading Ratio of Zero-g Simulation System Based on Torques of Space Manipulator

Published online by Cambridge University Press:  31 January 2019

Sihui Tian ,
Xiaoqiang Tang  and
Yuqi Li
Sihui Tian
Affiliation:
State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, China. E-mails: tsh14@mails.tsinghua.edu.cn; liyuqi_ustb@163.com
Xiaoqiang Tang*
Affiliation:
State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, China. E-mails: tsh14@mails.tsinghua.edu.cn; liyuqi_ustb@163.com Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipments and Control, Tsinghua University, Beijing, China
Yuqi Li
Affiliation:
State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, China. E-mails: tsh14@mails.tsinghua.edu.cn; liyuqi_ustb@163.com
*
*Corresponding author. E-mail: tang-xq@mail.tsinghua.edu.cn
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Summary

In this paper, a dynamic model of a seven-joints manipulator operated in a zero-g simulation system is established. The errors of the friction, the suspension force, and the flexible deformation of arms are considered. Furthermore, the unloading ratio, which can evaluate the performance of the simulation system, is presented. It can reflect the level of similarity between the system and the space environment directly and effectively. The results of experimental and theoretical analyses verify the correctness of the model. It helps us to get the joint torques when the actual space manipulator without the torque sensor operates in this system and guarantees the safety of the experiments.

Keywords

Unloading ratioZero-g simulationSpace manipulatorJoint torque
Type
Articles
Information
Robotica , Volume 37 , Issue 8 , August 2019 , pp. 1332 - 1345
Copyright
© Cambridge University Press 2019 

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