JPH01316186A - Ground simulation testing device for manipulator for space - Google Patents

Abstract

PURPOSE:To realize simply a weightless environmental test with high reliability by providing a computing means for computing a movement of a body to be worked in the weightless environment, with a force and a torque given by a manipulator to the body to be worked and a driving means for driving the body to be worked corresponding to the computed value. CONSTITUTION:A manipulator is floated from a substrate surface by the first floating means, and a body to be worked 10 held by the manipulator is floated from the substrate surface by the second floating means. A force and a torque given by the manipulator to the body to be worked is detected by a detecting means 13. A movement of the body to be worked in a weightless environment is computed by a computing means 16 corresponding to the detected force and torque. A body to be worked for simulation is driven by a driving means 12 corresponding to the computed value in the rough same condition as the weightless environment.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a ground simulation test device for a manipulator used in outer space.

(Prior Art) Conventionally, as shown in FIG. 3, a ground simulation test device for a space manipulator has been designed to levitate a workpiece 1 called a payload and a manipulator 2 above a substrate surface using a levitation mechanism 3 such as an air pad. A method has been adopted in which a zero gravity environment substantially similar to outer space is simulated by reducing the friction between the workpiece 1 and the manipulator 2 in the horizontal plane.

However, in the above-mentioned ground simulation test device, the workpiece 1 and manipulator 2 are levitated by the levitation mechanism 3 to reduce frictional force, thereby simulating a zero-gravity environment, making it difficult to conduct accurate zero-gravity environment tests. , which has the problem of low reliability. Further, according to this method, when the mass of the workpiece 1 becomes large, the frictional force cannot be ignored, so that it becomes difficult to apply the method.

(Problems to be Solved by the Invention) As described above, with the conventional ground simulation test equipment for space manipulators, it is difficult to perform accurate weightless environment tests, the reliability is low, and the mass of the space manipulator is large. The problem was that it was difficult to apply.

This invention was made in view of the above circumstances, and the purpose is to provide a zero-gravity simulation test device for a space manipulator that has a simple configuration and is capable of realizing a highly reliable zero-gravity environment test. do.

[Structure of the Invention] (Means for Solving the Problem) The present invention includes a first floating means for floating a manipulator above a substrate surface, and a second floating means for floating a workpiece held by the manipulator above the substrate surface. a floating means, a detection means for detecting the force/torque applied to the workpiece by the manipulator, and a detection means for detecting the force/torque applied to the workpiece by the manipulator;
The space manipulator is equipped with a calculation means for calculating the motion of the workpiece in a weightless environment from torque, and a drive means for driving the workpiece in accordance with the calculated value obtained by the calculation means. This is a mock test device.

(Function) According to the above configuration, when a force/torque is applied to the simulated workpiece by the manipulator, the simulated workpiece moves into a zero gravity environment corresponding to the force/torque applied via the drive means. A similar exercise is performed. Therefore, the manipulator is ensured through the simulating workpiece that a driving state substantially similar to that in a zero-gravity environment corresponding to the force and torque of the manipulator is achieved, and an accurate ground simulation test can be realized.

(Example) Hereinafter, an example of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows a ground simulation test device for a space manipulator according to an embodiment of the present invention, in which a workpiece 10 for simulating a workpiece called a payload is ? "f upper mechanism 11
It is arranged so that it can float freely on the substrate via the substrate. This simulating workpiece 10 is detachably attached to the drive mechanism section 12. This drive mechanism section 12 includes, for example, a rotating machine IN 12 a
, a first translation mechanism 12a for driving in the directions of arrows A and B, and a second translation mechanism 12b for driving in the directions of arrows C and D, and drives and controls the simulated workpiece 10 two-dimensionally.

Further, a held part 10a for holding the manipulator is formed on the simulating workpiece 10, and a force/torque sensor 13 is provided on this held part 10.

A test manipulator 14 is attached to the held portion 10a of the simulated workpiece 10. This manipulator 14 is provided on the substrate so that it can float freely via a floating mechanism 15, and is selectively driven by an operation section (not shown).

Furthermore, the output end of the force/torque sensor 13 is connected to a calculation section 16, as shown in FIG. The calculation section 16 calculates and obtains a drive command signal based on the input force/torque signals in accordance with the dynamics of the simulated workpiece 10 set in advance, and outputs the signal to the drive control section 17 . This drive control section 17 is connected to the drive mechanism section 12, and transmits a drive signal corresponding to the input drive command signal to the rotation mechanism 12a1 and the first and second translation mechanisms 12b of the drive mechanism section 12.
, 12c to cause the simulated workpiece 10 to perform movements substantially similar to those in a zero gravity environment. At this time, the gain of the drive signal of the drive control section 17 is adjusted in accordance with a rotation angle signal and a translation signal from a sensor (not shown) of the drive mechanism section 12.

In the above configuration, when performing a zero-gravity test on the manipulator 14, first, the simulated workpiece 10 and the manipulator 14 are levitated via the levitation mechanisms 11 and 15, and then the manipulator 14 is driven via an operation section (not shown). be done. Then, the force/torque sensor 13 of the simulated workpiece 10 detects the force/torque applied to the simulation workpiece 10 as the manipulator 14 operates, and sends the force/torque signal to the calculation unit 16. Output. Here, as described above, the calculation unit 16 calculates the dynamics corresponding to the desired workpiece set in advance, determines the motion of the simulated workpiece 10 in a weightless environment, and responds to the movement. The generated drive command signal is output to the drive control section 17. The drive control section 17 transmits a drive signal corresponding to the input drive command signal to the rotation mechanism 12a of the drive mechanism section 12, the first
The output signal is output to the second translation mechanisms 12b and 12c for drive control, and the simulated workpiece 10 is driven in the same way as in a zero gravity environment. This simulates the operation of the manipulator 14 similar to that in a zero gravity environment.

The calculation unit 16 is configured such that the mass characteristic parameters of the workpiece to be tested can be variably set by a switching means (not shown), and calculates the motion of various workpieces with different masses in a weightless environment. and generate drive command signals corresponding to various mass characteristics.

In this manner, the above-mentioned space manipulator base 2 simulation test device allows the manipulator 14 to move the simulating workpiece 1
Detect the force/torque applied to zero gravity, calculate the motion in a zero gravity environment, drive and control the simulated workpiece 10 according to the calculated value, and create a zero gravity environment corresponding to the force/torque. By simulating the movement of the manipulator 14 through the simulating workpiece 10, a driving state approximately similar to that in a zero-gravity environment corresponding to the force/torque can be ensured. Mock exams are possible. Further, according to this, it is possible to apply workpieces with different masses by simply variably setting the parameters of the mass characteristics of the calculation unit 16, thereby ensuring easy handling, and It is possible to accurately conduct simulation tests of manipulators using workpieces ranging from small to small objects.

Note that this invention is not limited to the above embodiments, but also includes
It goes without saying that various modifications can be made without departing from the spirit of the invention.

[Effects of the Invention] As detailed above, according to the present invention, there is provided a zero-gravity simulation test device for a space manipulator that has a simple configuration and is capable of realizing a highly reliable zero-gravity environment test. be able to.

[Brief explanation of the drawing]

FIG. 1 is a +14 diagram showing a ground simulation test device for a space manipulator according to an embodiment of the present invention, and FIG.
FIG. 3 is a block diagram showing a control system, and FIG. 3 is a configuration diagram showing a conventional ground simulation test device for a space manipulator. 10...Simulation workpiece, 10a...Holding part, 11
゜15... Levitation mechanism, 12... Drive mechanism section, 12a
... Rotation mechanism, 12b, 12c... First and second translation mechanism, 13... Force/torque sensor, 14... Manipulator, 16... Calculation section, 17... Drive control section . Applicant's agent Patent attorney Takehiko Suzue Figure 2, Figure 3v! J

Claims (1)

[Claims] a first floating means for floating a manipulator above a substrate surface; a second floating means for floating a workpiece held by the manipulator above the substrate surface; and a force applied to the workpiece by the manipulator. a detection means for detecting torque; a calculation means for calculating and calculating the motion of the workpiece in a weightless environment from the force/torque detected by the detection means; A ground simulation test device for a space manipulator, characterized by comprising a driving means for driving a working body.