引用本文: 李煜琦, 邵珠峰, 田斯慧, 唐晓强. 基于吊丝配重的空间机械臂零重力模拟装置卸载率分析及评价[J]. 机器人, 2016, 38(3): 293-300.
LI Yuqi, SHAO Zhufeng, TIAN Sihui, TANG Xiaoqiang. Analysis and Evaluation on Unloading Ratio of Zero-g Simulation Device of Space Manipulator Based on Suspension System[J]. ROBOT, 2016, 38(3): 293-300.
 Citation: LI Yuqi, SHAO Zhufeng, TIAN Sihui, TANG Xiaoqiang. Analysis and Evaluation on Unloading Ratio of Zero-g Simulation Device of Space Manipulator Based on Suspension System[J]. ROBOT, 2016, 38(3): 293-300.

## Analysis and Evaluation on Unloading Ratio of Zero-g Simulation Device of Space Manipulator Based on Suspension System

• 摘要: 针对基于吊丝配重的空间机械臂零重力模拟系统的性能评价问题，提出“卸载率”指标，研究提高系统模拟精度和可靠性的改进方法．首先，基于小变形假设和线性叠加原理，在考虑 2 维随动系统跟随位置误差和吊索拉力误差的情况下，分别分析臂杆附加应力情况和弯扭复合变形．然后，建立吊索拉力误差和附加应力的线性关系，并获得吊索拉力误差对臂杆附加应力的“影响度”．随后，定义单个吊索“卸载率”和零重力模拟装置“总卸载率”的指标．最后，研究了“卸载率”计算方法和相互关系．

Abstract: For performance evaluation of zero-g simulation device of space manipulator based on suspension system, an "unloading ratio" index is proposed, and methods for improving simulation reliability and accuracy are investigated. Based on the small deformation assumption and principle of linear superposition, the subsidiary stress and bending-torsional deflections of links are analyzed and errors of the 2-dimensional follow-up system and tension force errors of slings are taken into consideration. The linear relationship between the subsidiary stress and tension force errors of slings is set up, and a definition of "influence degree" is proposed which maps the tension force errors of slings to the subsidiary stress of links. Then the "unloading ratio" of a single sling and the "total unloading ratio" index of the zero-g simulation device are defined. Finally, methods for calculating the "unloading ratio" index and relationships among indexes are investigated.

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