CN117584139A - Full-gravity unloading test system and method for space robot - Google Patents
Full-gravity unloading test system and method for space robot Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The invention provides a full-gravity unloading test system and method of a space robot, and relates to the technical field of spacecraft ground tests, wherein the system comprises a ground control device, an air bearing table device, a space manipulator and an unloading device; the air bearing table device is used for simulating the kinematics and dynamics characteristics of the on-orbit control and the weightless environment of the target spacecraft and sending the running data of the on-orbit spacecraft to the ground control device; the space manipulator is carried on the control spacecraft simulation air bearing table and is used for maintaining and repairing the target spacecraft simulation air bearing table device; the unloading device performs gravity unloading on the space manipulator so as to enable the space manipulator to be in a weightless state; the ground control device telemeters and displays the operation data of the system and sends control instructions to the air bearing table device, the space manipulator and the unloading device. The scheme realizes gravity-free simulation of the whole space control test system, and completes ground verification of a space smart operation control scheme and an algorithm.
Description
Technical Field
The invention relates to the technical field of spacecraft ground tests, in particular to a full-gravity unloading test system and method of a space robot.
Background
The space robot in the on-orbit service is a smart mechanical arm with special purposes, can replace and cooperate with astronauts to complete a great deal of dangerous and time-consuming off-board activities, and is used for realizing maintenance and repair of various targets, such as refueling and device replacement, rapid lifting or recovery of satellite and system functions and the like. The space manipulator usually works in a weightless environment, and experimental verification is carried out after the gravity of the manipulator is unloaded on the ground and the test system is built.
In the related art, the control algorithm verification on the plane can only be carried out on the operation of the space manipulator through the unloading gravity of the air cushion; or by simple suspension unloading, certain simple operations of a single arm. Therefore, the result of plane verification or single-arm verification cannot meet the requirements of a scheme and algorithm verification of high-precision smart control on the track.
Based on this, a full-gravity unloading test system and method of a space robot are needed to solve the above technical problems.
Disclosure of Invention
In order to meet the requirements of a coupling dynamics verification and control scheme and an algorithm verification of complex and smart control in-orbit space maintenance control, the embodiment of the invention provides a full-gravity unloading test system and method of a space robot.
In a first aspect, an embodiment of the present invention provides a full-gravity unloading test system of a space robot, including: the device comprises a ground control device, an air floating platform device, a space manipulator and an unloading device; the air bearing table device is used for simulating the kinematics and dynamics characteristics of the on-orbit control spacecraft and the target spacecraft in the weightless environment and sending the operation data of the on-orbit spacecraft to the ground control device;
the space manipulator is used for maintaining and repairing the air bearing table device according to the control instruction sent by the ground control device;
the unloading device is used for carrying out gravity unloading on the space manipulator so as to enable the space manipulator to be in a weightless state;
the ground control device is used for receiving the operation data sent by the air bearing table device and sending control instructions to the air bearing table device, the space manipulator and the unloading device.
Preferably, the air bearing table device comprises a posture platform, a translation platform and a table assembly;
the gesture platform and the translation platform are connected through an air floating ball bearing, so that the gesture platform has three degrees of freedom of rotation without friction;
the translation platform is suspended on a supporting plane through an air cushion, so that the air bearing table device performs friction-free translation motion with two degrees of freedom;
the bench assembly is arranged on the gesture platform and comprises bench process equipment, a measurement sensor and an executing mechanism, and the bench assembly is used for receiving a control instruction of the ground control device and completing a bench control function.
Preferably, the on-table process equipment comprises a control computer, a power supply mechanism and a balance adjustment mechanism;
the control computer is provided with a bench control program for performing bench management; the on-board management comprises the steps of receiving the ground control instruction, downloading a telemetry signal, collecting information of each sensor, executing a preset control instruction, and controlling an on-board process unit according to the control instruction;
the power supply mechanism comprises a battery and a power supply distribution box, and the power supply distribution box is used for distributing power supply for the air bearing table device;
the balance adjusting mechanism is used for adjusting the mass center position of the attitude platform so as to enable the air bearing table device to maintain a balance state.
Preferably, the measuring unit comprises a relative measuring sensor and an inertial sensor;
the relative measurement sensor is used for obtaining the relative position and the relative posture of the air bearing table device;
the inertial sensor is used for measuring the attitude angle and the attitude angular speed of the attitude platform.
Preferably, the actuator comprises a cold air thruster, a momentum wheel or the like;
the cold air thruster is used for providing thrust for the air bearing table device so as to control the position and the posture of the air bearing table device in a weightless state;
the momentum wheel is used for providing interaction moment for the air bearing table device and outputting moment according to a preset instruction so as to control the orientation of the attitude platform in the weightlessness state.
Preferably, the air bearing table device further comprises an air cylinder device, wherein the air cylinder device is arranged between the gesture platform and the translation platform and is used for unloading the gravity of the gesture platform so as to enable the gesture platform to move up and down in a friction-free mode.
Preferably, the unloading device comprises a frame, a rail and a suspension assembly;
wherein each track is uniformly arranged on two sides of the frame, and each side is provided with at least two layers of tracks;
each suspension assembly is arranged on the track in a layered mode, and each suspension assembly is used for carrying out constant tension unloading and horizontal position active following on the gravity of the space manipulator so that the space manipulator is in a weightless state.
Preferably, each suspension assembly comprises a controller, a boom telescoping unit, a rope inclination angle measuring unit, a constant force control unit, a transverse movement unit and a rope which are sequentially arranged on the boom;
the transverse movement unit is connected with the track so as to enable the suspension assembly to move on the track;
the boom telescoping unit is used for controlling the telescoping state of the boom so as to enable the suspension assembly to conduct telescoping movement;
the constant force control unit is arranged at the tail end of the suspender, one end of the rope is connected with the constant force control unit, the other end of the rope is connected with the space manipulator, and the constant force control unit is used for providing constant unloading tension for the space manipulator;
the controller is electrically connected with the transverse movement unit and the boom telescoping unit, and is used for reading data of the rope inclination angle measuring unit and controlling the transverse movement unit and the boom telescoping unit to move according to the data so as to enable the rope to keep a vertical state.
Preferably, the ground control device comprises a remote control module and a telemetry module;
the remote control module is used for sending control instructions to the air bearing table device, the space manipulator and the unloading device;
the telemetry module is used for receiving the operation data transmitted back by the full-gravity unloading test system and displaying the operation data on a display screen.
In a second aspect, the embodiment of the invention further provides a full-gravity unloading test method of the space robot, which comprises the following steps:
forming a controller simulation and a target simulator by using the air bearing table device, and simulating the dynamic characteristics of the on-orbit spacecraft;
acquiring operation data of the air bearing table device and the space manipulator by using the control computer on the air bearing table;
the control computer on the air floatation table is utilized to send the operation data to the ground control device;
transmitting control instructions to the air bearing table device, the space manipulator and the unloading device by using the ground control device;
the unloading device is used for carrying out gravity unloading on the space manipulator so that the space manipulator does not generate interference force and interference moment on the control simulator;
and maintaining and repairing the target air bearing table device by using the control simulator and the space manipulator in the full-gravity unloading test system so as to complete the test.
The embodiment of the invention provides a full-gravity unloading test system and method for a space robot, which simulate an on-orbit spacecraft by using an air bearing table with multiple degrees of freedom, simulate the motion state of an on-orbit satellite to the greatest extent, design a full-gravity unloading system for a mechanical arm, and realize constant-tension unloading and horizontal follow-up of a lifting point by installing the space mechanical arm on an unloading device according to a constant-force lifting point of the mechanical arm, so that the gravity of the mechanical arm can be completely unloaded, the disturbance moment generated by a control simulator is small, the ground verification of a closed-loop system is not influenced, the gravity-free simulation of the whole space control test system is realized, and an on-orbit fine control basic test platform is constructed, thereby improving the precision of measurement and test results of the space robot on the ground.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a full gravity unloading test system of a space robot according to an embodiment of the present invention;
FIG. 2 is a schematic view of an air bearing table according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an unloading device according to an embodiment of the present invention;
FIG. 4 is a schematic view of a suspension assembly according to an embodiment of the present invention;
FIG. 5 is a schematic illustration of a space manipulator loading provided in an embodiment of the present invention;
fig. 6 is a flowchart of a full gravity unloading test method of the space robot according to an embodiment of the present invention.
Reference numerals:
1-gesture platform
11-a control computer;
12-inertial sensor;
13-momentum wheel;
14-a relative measurement sensor;
15-an air floating ball bearing;
16-cold air thruster;
17-balancing mechanism;
2-a translation platform;
21-an air cushion;
22-cylinder;
3-a support plane;
4-a suspension assembly;
41-a controller;
42-a lateral movement unit;
43-boom extension unit;
44-a constant force control unit;
45-rope inclination measuring unit;
5-track;
6-a frame;
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a full-gravity unloading test system for a space robot, which includes a ground control device, an air bearing table device, a space manipulator, and an unloading device. The air bearing table device is used for simulating the kinematics and dynamics characteristics of the on-orbit control spacecraft and the target spacecraft in the weightless environment and sending the operation data of the on-orbit spacecraft to the ground control device; the space manipulator is used for carrying out maintenance treatment on the air bearing table device according to the control instruction sent by the ground control device, the space manipulator is carried on the simulation air bearing table of the control spacecraft to form a control simulator, and the control simulator is used for maintaining and maintaining the simulation air bearing table device of the target spacecraft according to the control instruction sent by the ground control device; the ground control device is used for remotely measuring and displaying the operation data of the whole test system and sending control instructions to the air bearing table device, the space manipulator, the unloading device and the like.
The embodiment of the invention provides a full-gravity unloading test system and method for a space robot, which simulate an on-orbit spacecraft by using an air bearing table with multiple degrees of freedom, simulate the motion state of an on-orbit satellite to the greatest extent, design a full-gravity unloading system for a mechanical arm, and realize constant-tension unloading and horizontal follow-up of a lifting point by installing the space mechanical arm on an unloading device according to a constant-force lifting point of the mechanical arm, so that the gravity of the mechanical arm can be completely unloaded, the disturbance moment generated by a control simulator is small, the ground verification of a closed-loop system is not influenced, the gravity-free simulation of the whole space control test system is realized, and an on-orbit fine control basic test platform is constructed, thereby improving the precision of measurement and test results of the space robot on the ground.
In the embodiment of the invention, the air bearing table device comprises a posture platform 1, a translation platform 2, a supporting plane 3 and a table assembly (refer to fig. 2). The attitude platform 1 and the translational platform 2 are connected through an air floating ball bearing 15, so that the attitude platform 1 performs three-degree-of-freedom rotational movement; the translation platform 2 is suspended on the supporting plane 3 through an air cushion 21 so as to enable the air bearing table device to perform two-degree-of-freedom translation motion; the bench assembly is arranged on the gesture platform 1 and comprises bench process equipment, a measurement sensor and an executing mechanism, and the bench assembly is used for receiving the ground control instruction and completing the bench control function.
Specifically, the translation platform 2 floats the air bearing platform device on the supporting plane 3 through the air cushion 21, so that the air bearing platform device realizes the translation motion of two horizontal degrees of freedom, namely front, back, left and right, the gesture platform 1 and the translation platform 2 are connected through the air bearing ball bearing 15, the gesture platform 1 realizes the rotation motion of three degrees of freedom, namely rolling, pitching and yawing, without friction, and in addition, the cylinder 22 is further arranged on a vertical shaft between the gesture platform 1 and the translation platform 2, the gravity of the gesture platform can be unloaded through the cylinder 22, so that the gesture platform 1 can realize the friction-free up-down motion of a certain stroke, and the whole air bearing platform device can better simulate the running state of an on-orbit spacecraft.
Further, the attitude platform 1 is provided with a bench process device, a measuring sensor, an executing mechanism and the like, so that various parameters and data of the air bearing table device in the running process can be effectively measured and timely sent to the ground control device, and the ground control device can send control instructions to the air bearing table device, the space manipulator and the unloading device according to real-time running data.
The bench process equipment comprises a control computer 11, a power supply mechanism and a balance mechanism; the control computer 11 is used as a control and communication center on the platform, is provided with a control program on the platform, can receive the ground control instruction, download a telemetry signal, collect information of each sensor, calculate a control instruction of an executing mechanism according to a GNC algorithm, and control a process unit on the platform according to the control instruction; the power supply mechanism comprises a battery and a power supply distribution box, wherein the power supply distribution box is used for distributing power supply to the air floating platform device and has the functions of remote control switch, current and voltage monitoring and the like.
In one embodiment of the invention, the control computer 11 is provided with a bench-top control program, which is the core of the bench-top assembly, for simulating the control computer of an on-orbit spacecraft, by means of which the normal operation of the whole test system can be effectively controlled. The control program on the platform adopts a visual C++ environment, and the main functions comprise realizing a network communication interface of a control computer on the platform and a ground computer; carrying a GNC module to realize the position and posture determination and control algorithm of the air bearing table; the control of serial port, network port communication and the like on-board equipment is realized, the object comprises a balance adjusting mechanism, a measuring sensor, an executing mechanism and the like, and the control of reference products such as a mechanical arm, a claw and the like can also be realized.
Further, these on-board control programs include a main program framework, a network communication module, a ground data decoding module, a telemetry data packaging module, a GNC calculation module, an IMU data acquisition module, a leveling module, a jet control module, a robotic arm control module, an unloading system module, and other product modules.
Specifically, the main program framework provides a simple display interface using the C++ MFC dialog class, displaying program running state and data for debugging in text mode. A Windows multimedia timer is adopted to realize a high-precision periodic timer and trigger events; the network communication module adopts a Windows Socket network communication function, and uses UDP to realize the overall control communication function between the on-station industrial personal computer and the ground, thereby realizing the transmission of instructions and data; the ground data decoding module unpacks the received ground data packet. The ground data packet is divided into a remote control instruction packet and a data packet; the telemetry data packaging module collects telemetry data and data generated by the equipment and the algorithm on the platform and packages the telemetry data and the data into a uniform format; the IMU data acquisition module realizes the functions of initializing a hardware interface, generating and sending a fetch instruction, reading and converting IMU data and the like; the balance adjustment module realizes the functions of initializing a hardware interface, generating a balance adjustment mechanism execution instruction according to a ground instruction, sending a control instruction, reading position data of a balance mass block and the like; the air injection control module is used for realizing communication and control of a cold air thruster driving circuit, and generating an instruction corresponding to the thruster according to the control instruction obtained by calculation of the GNC module; the mechanical arm control module is characterized in that a control computer on a table receives a remote control instruction, so that the initialization of a hardware interface is realized, the control instruction is sent to the mechanical arm according to a protocol, and the real-time telemetering of the mechanical arm is received; the unloading system module receives the unloading system information of the ground, analyzes the information after reading the information, and sends control instructions such as unloading start and stop through UDP; and the other product modules receive data of corresponding products according to specific interface forms such as a network, a serial port, 1553bB and the like, and control the corresponding products according to a control algorithm. Such as CMGs, momentum wheels, relative measurement sensors, etc.
It should be noted that, the specific programming process and implementation method in the above procedure are well known to those skilled in the art, and are not described herein.
In the embodiment of the invention, the balance mechanism is used for adjusting the mass center position of the gesture platform so as to maintain the air bearing table device in a balance state.
The balancing mechanism 17 is used for accurately adjusting the position of the centroid of the gesture platform in the three-dimensional space, and reducing the disturbance moment caused by gravity due to the fact that the centroid of the gesture platform is not coincident with the spherical center of the air floating ball bearing, so that the air floating table device maintains a balanced state. It should be noted that the leveling mechanism 17 mainly comprises a leveling mechanism and a circuit box, the leveling mechanism has 3 sets, and each set of mechanism comprises a motor, a lead screw, a guide rail, a positioning sensor and the like, and is installed in parallel with three main inertia axes of the instrument platform. In the test process, the adjusting mechanism is controlled by the control system, so that the displacement of the mass block is realized, and the function of fine-adjusting the mass center of the attitude platform 1 is achieved.
In the embodiment of the invention, the measuring unit comprises a relative measuring sensor 14 and an inertial sensor 12; the relative measurement sensor obtains the relative position and the posture of the air bearing table device of the target simulator based on the principle of laser or photogrammetry; the inertial sensor 12 is used to measure the attitude angle and the attitude angular speed of the attitude platform 1.
In the embodiment of the invention, the executing mechanism comprises a cold air thruster 16 and a momentum wheel 13; the cold air thruster 16 is a common device mounted on the air bearing device, so as to simulate an on-orbit thruster of a spacecraft. The control computer 11 controls the air injection time of the thruster according to the GNC control algorithm, high-pressure nitrogen in the air bottle is decompressed and sprayed out through the nozzle, so that the air bearing table device obtains thrust, and the position and the posture of the air bearing table are controlled; the control computer 11 controls the output torque of the momentum wheel 13 according to the GNC control algorithm, thereby regulating the motion of the attitude platform 1.
In the embodiment of the invention, the unloading device comprises a suspension assembly 4, a rail 5 and a frame 6 (please refer to fig. 3), wherein the frame 6 mainly plays roles of supporting and installing, and provides an installation foundation for the rail and the suspension assembly; the rails 5 are the foundation and the restraint of the motion of the suspension assembly 4, are arranged on the left side and the right side of the frame 6, and are arranged on 2-3 layers on each side; a plurality of suspension assemblies 4 are arranged on one layer of track 5, and the suspension assemblies 4 are used for unloading the gravity of the space manipulator so as to enable the space manipulator to be in a weightless state.
It is worth to say that the frame 6 has good overall configuration stability and high fundamental frequency, is not easy to couple vibration with the whole unloading device, and provides a good and stable foundation for the unloading device; in addition, the arrangement mode of the rails 5 in the embodiment has very strong adaptability, on one hand, more suspension assemblies can be arranged to support more complex test configurations, and on the other hand, the probability of interference between ropes and suspenders can be reduced by layering and laterally arranging the rails 5, so that the gravity unloading of the space manipulator in the unfolded and folded states is realized.
In one embodiment of the present invention, the suspension assembly 4 is a three-degree-of-freedom suspension assembly including active position tracking of 2 degrees of freedom and constant force tracking of the degrees of freedom in the plumb direction (refer to fig. 4), and the suspension assembly 4 includes a controller 41, a lateral movement unit 42, a boom extension unit 43, a constant force control unit 44, and a rope inclination angle measurement unit 45, which are sequentially provided around the boom.
The lateral movement unit 42 is connected to the rail 5 to horizontally move the suspension assembly on the rail 5; the boom extension unit 43 is used for controlling the extension and retraction state of the boom so as to enable the suspension assembly to perform extension and retraction movements; the constant force control unit 44 is arranged at the tail end of the boom, one end of the rope is connected with the constant force control unit 44, the other end of the rope is connected with the space manipulator, and the constant force control unit 44 is used for providing constant unloading tension for the space manipulator; the controller 41 is electrically connected to the lateral movement unit 42 and the boom extension unit 43, and the controller 41 is configured to read data of the rope inclination angle measurement unit 45 and control the lateral movement unit 42 and the boom extension unit 43 according to the data so as to maintain the rope in a vertical state.
Specifically, the transverse moving unit 42 carries the whole suspension assembly to move, the boom telescoping unit 43 controls the boom to telescope, and the boom telescoping unit 43 and the boom telescoping unit together form a two-dimensional plane moving mechanism to realize the movement of the whole suspension assembly in a two-dimensional plane, when the controller 41 reads the data of the rope inclination angle measuring unit 45, if the controller detects that the rope is inclined, the transverse moving unit 42 and the boom telescoping unit 43 are controlled to move, so that the rope is kept in a numerical direction, and the two-dimensional translational tracking of a suspension target is realized.
It should be noted that, the constant force control unit 44 in this embodiment is composed of a rope retractor, a constant force device and a force sensor, and is used for providing constant unloading tension for the suspended object and simultaneously moving along the unloading object in the vertical direction, where the rope retractor is used for tracking the movement of the unloading object in a large range, and the constant force device is used for fast dynamic response, so as to ensure the unloading precision of gravity when the space manipulator is in a moving state.
In the embodiment of the invention, the space manipulator needs to be connected with the unloading device to simulate the weightlessness state in space, so that the following conditions need to be considered when the space manipulator is connected with the unloading device:
in the first aspect, the newly accessed space manipulator needs to be configured with a safety protection device when the unloading device stops operating, so as to avoid damaging the space manipulator when the unloading device stops.
In the second aspect, in order to ensure that the unloading device does not generate additional gravity interference during the operation of the space manipulator to affect the air bearing table device, the space manipulator needs to be divided into a plurality of constant force parts, and the mass center of each part needs to be configured on the axis of the manipulator arm rod where the hanging point is located. At the same time, the position of the space manipulator suspension should be located at the centroid position of the suspension part.
In a third aspect, the arm suspension position needs to bear corresponding compression forces, specifically, each unloading sling device has 3 compression points, and the stress of each compression point comprises two parts of gravity and additional pressure: the weight is equal to the weight of the suspension section of the mechanical arm, and the additional pressure is used for fastening the connection of the suspension adaptation mechanism and the mechanical arm (not less than 20kg in value), and if the mechanical arm has weak bearing capacity, local reinforcement is needed.
In addition to the conditions that need to be met when the space manipulator is installed, the space manipulator may encounter abnormal conditions and corresponding protection measures during operation are shown in the following table 1:
TABLE 1 analysis of abnormal situation
In an embodiment of the present invention, the suspension points of the unloading device are allocated according to the motion track of the space manipulator, and this embodiment provides an example of allocation according to the motion track of the space manipulator (please refer to fig. 5), where a suspension manner of two suspension assemblies distributed on two layers on the left and two suspension assemblies distributed on 2 layers on the right is given, and the suspension manner supports an example of full motion of the seven-degree-of-freedom manipulator in the right half space and full motion in the 1/2 left half space. In the figure, the mechanical arm is in an unfolding state, and the root part, the first section arm, the second section arm and the wrist of the mechanical arm are hung by the four suspension assemblies in sequence. When the mechanical arm needs to be folded, the two suspension components on the right side move along the track as shown in the figure, so that the folding action is completed. During the movement, the suspension assembly is positioned on the upper layer and the lower layer, so that interference between the suspension assembly and the lower layer can not occur.
In the embodiment of the invention, after the control simulator, the target simulator, the space manipulator, the unloading device and other carried products are all ready, the ground control device starts to send control instructions to the parts and receives returned real-time operation data, wherein the ground control device comprises a telemetry module and a remote control module, and the telemetry module is used for receiving the operation data transmitted back by the test system and displaying the operation data on a display screen; the remote control module is used for sending control instructions to the air bearing table device, the space manipulator and the unloading device.
Specifically, the telemetry module is a plurality of telemetry computers and telemetry programs, and the telemetry programs receive telemetry data sent by each part of the test system through a local area network protocol. The remote measuring module can display pose information of the target simulator and the operation simulator air bearing table device, measurement information of the measurement unit, voltage, air pressure, on-off states of each thruster and the like, unloading system information, information of a mechanical arm system and the like; the telemetry data of each subsystem (or component) can be displayed in a paging mode, and the telemetry data comprises data display, curve display and configuration dynamic display; in addition, the telemetry module can store files, store data in a memory in a text form, provide data for a text display control, create a folder for each test, store all log files and data files in the test under the folder, and store remote control instructions and execution results of key events in one test as one log file.
The remote control module is arranged on the ground control computer, generates a remote control instruction, sends the remote control instruction to the on-board control computer of the corresponding equipment, and remotely controls the control simulator, the target simulator, the mechanical arm, the unloading system and the like. The ground remote control software consists of modules such as an interface, instruction generation and the like. The interface provides a man-machine interaction interface based on windows, displays remote control interfaces of all subsystems (or components) in a paging way, comprises a plurality of controls such as buttons, edit boxes, combination boxes and the like, inputs remote control instructions for a plurality of control modes, and can conveniently expand new control types. The functions of the concrete implementation include remote control of each module and different control modes of the air bearing table; remote control of the space manipulator and unloading system, etc. The interface of the ground control device is provided with mode feedback, and the execution state of the transmitted instruction can be displayed. In addition to control buttons, the interface has important parameter feedback display.
As shown in fig. 6, an embodiment of the present invention provides a full-gravity unloading test method of a space robot, which is applied to the full-gravity unloading test system of the space robot mentioned in any one of the above embodiments, and the method includes:
a1, forming a controller simulation and a target simulator by using an air bearing table device, and simulating the dynamics characteristics of an on-orbit spacecraft;
a2, acquiring operation data of the air bearing table device and the space manipulator by using a control computer on the air bearing table;
a3, transmitting the operation data to a ground control device by using a control computer on the air bearing table;
step A4, a ground control device is utilized to send control instructions to the air bearing table device, the space manipulator and the unloading device;
step A5, carrying out gravity unloading on the space manipulator by utilizing an unloading device so that the space manipulator does not generate interference force and interference moment on the control simulator;
and step A6, performing maintenance on the target air bearing table device by using a control simulator in the full-gravity unloading test system so as to complete the test.
It can be understood that the method embodiment provided by the embodiment of the present invention and the device embodiment belong to the same inventive concept, so that the method embodiment and the device embodiment have the same beneficial effects, and are not described herein.
It is noted that relational terms such as first and second, and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one …" does not exclude the presence of additional identical elements in a process, method, article or apparatus that comprises the element.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The full-gravity unloading test system of the space robot is characterized by comprising a ground control device, an air floating platform device, a space mechanical arm and an unloading device; the air bearing table device is used for simulating the kinematics and dynamics characteristics of the on-orbit control spacecraft and the target spacecraft in the weightless environment and sending the operation data of the on-orbit spacecraft to the ground control device;
the space manipulator is used for maintaining and repairing the air bearing table device according to the control instruction sent by the ground control device;
the unloading device is used for carrying out gravity unloading on the space manipulator so as to enable the space manipulator to be in a weightless state;
the ground control device is used for receiving the operation data sent by the air bearing table device, the space manipulator and the unloading device and sending a control instruction to the full-gravity unloading test system.
2. The system of claim 1, wherein the air bearing table means comprises a gesture platform, a translation platform, and a table assembly;
the gesture platform and the translation platform are connected through an air floating ball bearing, so that the gesture platform has three degrees of freedom of rotation without friction;
the translation platform is suspended on a supporting plane through an air cushion, so that the air bearing table device performs friction-free translation motion with two degrees of freedom;
the bench assembly is arranged on the gesture platform and comprises bench process equipment, a measurement sensor and an executing mechanism, and the bench assembly is used for receiving a control instruction of the ground control device and completing a bench control function.
3. The system of claim 2, wherein the on-board process equipment comprises a control computer, a power supply mechanism, and a leveling mechanism;
the control computer is provided with a bench control program for performing bench management; the on-board management comprises the steps of receiving the ground control instruction, downloading a telemetry signal, collecting information of each sensor, executing a GNC control algorithm, and controlling an executing mechanism according to the control instruction generated by the GNC control algorithm;
the power supply mechanism comprises a battery and a power supply distribution box, and the power supply distribution box is used for distributing power supply for the air bearing table device;
the balance adjusting mechanism is used for adjusting the mass center position of the attitude platform so as to enable the air bearing table device to maintain a balance state.
4. A system according to claim 3, wherein the measurement sensor comprises a relative measurement sensor and an inertial sensor;
the relative measurement sensor is used for obtaining the relative position and the relative posture of the air bearing table device;
the inertial sensor is used for measuring the attitude angle and the attitude angular speed of the attitude platform.
5. The system of claim 4, wherein the actuator comprises a cold air thruster and a momentum wheel;
the cold air thruster is used for providing thrust for the air bearing table device so as to control the position and the posture of the air bearing table device in a weightless state;
the momentum wheel is used for providing interaction moment for the air bearing table device and outputting moment according to a preset instruction so as to control the orientation of the attitude platform in the weightlessness state.
6. The system of claim 2, wherein the air bearing table device further comprises a cylinder type device disposed between the attitude platform and the translation platform for unloading the gravity of the attitude platform to enable the attitude platform to perform frictionless up-and-down motion.
7. The system of claim 1, wherein the unloading device comprises a frame, a rail, and a suspension assembly;
wherein each track is uniformly arranged on two sides of the frame, and each side is provided with at least two layers of tracks;
each suspension assembly is arranged on the track in a layered mode, and each suspension assembly is used for carrying out constant tension unloading and horizontal position active following on the gravity of the space manipulator so that the space manipulator is in a weightless state.
8. The system of claim 7, wherein each of the suspension assemblies comprises a controller, a boom extension unit, a rope inclination angle measurement unit, a constant force control unit, a lateral movement unit, and a rope, which are sequentially disposed on a boom;
the transverse movement unit is connected with the track so as to enable the suspension assembly to move on the track;
the boom telescoping unit is used for controlling the telescoping state of the boom so as to enable the suspension assembly to conduct telescoping movement;
the constant force control unit is arranged at the tail end of the suspender, one end of the rope is connected with the constant force control unit, the other end of the rope is connected with the space manipulator, and the constant force control unit is used for providing constant unloading tension for the space manipulator;
the controller is electrically connected with the transverse movement unit and the boom telescoping unit, and is used for reading data of the rope inclination angle measuring unit and controlling the transverse movement unit and the boom telescoping unit to move according to the data so as to enable the rope to keep a vertical state.
9. The system of claim 1, wherein the surface control device comprises a remote control module and a telemetry module;
the remote control module is used for sending control instructions to the air bearing table device, the space manipulator and the unloading device;
the telemetry module is used for receiving the operation data transmitted back by the full-gravity unloading test system and displaying the operation data on a display screen.
10. A full-gravity unloading test method of a space robot, applied to the full-gravity unloading test system of a space robot according to any one of claims 1 to 9, comprising:
forming a controller simulation and a target simulator by using the air bearing table device, and simulating the dynamic characteristics of the on-orbit spacecraft;
acquiring operation data of the air bearing table device by using the control computer;
transmitting the operation data to the ground control device by using the control computer;
transmitting control instructions to the air bearing table device, the space manipulator and the unloading device by using the ground control device;
the unloading device is used for carrying out gravity unloading on the space manipulator, so that the space manipulator does not generate interference force and interference moment on the control simulator air bearing table;
and maintaining the target air bearing table device by using the control simulator in the full-gravity unloading test system so as to complete the test.
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