[一种用于航天服关节扭矩的机器人测量系统]
[A robot measurement system for spacesuit joint torque].
作者信息
Du Li-Bin, Gao Xiao-Hui, Liu Hong, Li Tan-qiu
机构信息
Robotics Research Institute, Harbin Institute of Technology, Harbin, China.
出版信息
Space Med Med Eng (Beijing). 2003 Jun;16(3):187-92.
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.
目的
测量航天服的关节扭矩，以评估其动态力/扭矩性能。
方法
本文提出一种利用机器人技术测量航天服关节扭矩的方法。提出了测量策略和测量机器人的设计方案，并给出了系统的数学模型。然后分析了机器人的工作空间。
结果
所设计的机器人轻巧、紧凑、操作简便，工作空间大。实验结果证明了测量原理的有效性和测量系统的可靠性。
结论
该系统能够满足航天服关节扭矩测量的要求。
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