基于吊丝悬架的地面微重力补偿实验系统设计

摘要

In recent years,the ground micro-gravity compensation experiment system is increas-ingly used in intelligent assist devices.The replace-ment of the damaged parts inside ITER device is completed by the teleoperation robot.In order to reduce the operation force of the main manipula-tor,the need for the main manipulator for micro-gravity compensation should be concerned.This paper proposes a kind of microgravity compensa-tion system based on the suspension spring and de-signs an angular measuring device to measure angle of the suspension spring effectively.Firstly,the o-verall design for the system is done.Secondly theo-retical calculation and ADAMS kinematics simula-tion are carried out to establish the mathematical relationship of the angle of suspension spring and the angular measuring device.Thirdly the control strategy of the system is proposed.The feasibility of the system is verified by the finally compensa-tion experiment.%地面微重力补偿实验系统越来越多地应用于智能助力设备上。ITER 装置内受损零件的更换由操作员通过遥操作机器人主机械手操控从机械手完成，为了使操作员操控省力，需要对主机械手进行重力补偿。基于吊丝悬架的微重力补偿方案，设计了一种吊丝摆角测量装置，能够方便有效地实现吊丝摆角的测量。首先对系统进行总体设计，然后对吊丝摆角测量装置进行理论计算及 ADAMS 运动学仿真，得出了该装置对吊丝摆角测量的放大倍数，接着设计了系统的控制方案，最后对系统进行相关补偿实验，验证了该设计的可行性。