Design and development of two manipulators as a key element of a space robot testing facility

• Autorzy: Seweryn K. , Grassmann K. , Rutkowski K. , Rybus T. , Wawrzaszek R.

Identyfikatory

DOI

10.1515/meceng-2015-0022

Warianty tytułu

PL

Projekt i budowa dwóch modeli laboratoryjnych manipulatorów jako kluczowy element stanowiska testowego dedykowanego robotom kosmicznym

• Języki publikacji: EN

Abstrakty

EN

The process of designing control systems for devices operating in microgravity, on-orbit environment, requires testing to verify the effectiveness and characteristics of the algorithms. The key issue is to design a relevant environment in terrestrial conditions that affects both the linear and angular three-dimensional motion of a rigid body. This paper contains a description of the mechanical aspects of two test beds used to evaluate control algorithms planned for use in a space manipulator. Two solutions are presented: (i) a planar manipulator with a free base placed on an air-bearing table; and (ii) a test bed with a 7-DOF manipulator fixed through a force-torque measurement system to the base.

PL

Podczas procesu projektowania układów sterowania robotów pracujących w warunkach mikrograwitacji niezbędna jest możliwość przeprowadzenia ich walidacji w relewantnym środowisku. Kluczowym problemem jest budowa stanowisk testowych pozwalających na analizowanie ruchu manipulatora umieszczonego na swobodnej bazie, której ruch odbywa się w trzech wymiarach. Artykuł zawiera opis dwóch stanowisk testowych wykorzystywanych do analizy działania algorytmów sterowania w zrobotyzowanych systemach satelitarnych. W artykule opisano symulator warunków mikrograwitacji w postaci manipulatora płaskiego ze swobodną bazą umieszczoną na łożyskach powietrznych oraz stanowisko testowe wyposażone w manipulator o 7 stopniach swobody z utwierdzoną bazą pozwalającą na pomiar 3 składowych siły i momentu siły.

Słowa kluczowe

EN

testing space manipulator; free floating space robot; air bearing table; microgravity operations; epicycloid gear

PL

testowy manipulator kosmiczny; manipulator kosmiczny ze swobodną bazą; łożysko powietrzne; procesy mikrograwitacji; przekładnia cykloidalna

• Wydawca: Komitet Budowy Maszyn PAN
• Czasopismo: Archive of Mechanical Engineering
• Rocznik: 2015
• Tom: Vol. LXII, nr 3
• Strony: 377--394
• Opis fizyczny: Bibliogr. 26 poz., fot., rys., tab.

Twórcy

autor

Seweryn K.

• Space Research Centre of the Polish Academy of Sciences (CBK PAN), ul. Bartycka 18a, 00-716 Warsaw, Poland

autor

Grassmann K.

• Space Research Centre of the Polish Academy of Sciences (CBK PAN), ul. Bartycka 18a, 00-716 Warsaw, Poland

autor

Rutkowski K.

• Space Research Centre of the Polish Academy of Sciences (CBK PAN), ul. Bartycka 18a, 00-716 Warsaw, Poland

autor

Rybus T.

• Space Research Centre of the Polish Academy of Sciences (CBK PAN), ul. Bartycka 18a, 00-716 Warsaw, Poland

autor

Wawrzaszek R.

• Space Research Centre of the Polish Academy of Sciences (CBK PAN), ul. Bartycka 18a, 00-716 Warsaw, Poland

Bibliografia

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Uwagi

EN

The project “Design and construction of a prototype of the manipulator as a key component of the satellite orbit servicing system” was supported by the National Centre for Research and Development, under the LIDER/10/89/L-2/10/ NCBIR/2011 project