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舱外服是宇航员出舱活动(EVA)的保护装备,宇航员穿着后活动能力必然受一定限制,对其检测是评价宇航服的一个重要指标,也是太空作业中被操作件的设计依据.本文作者研制了一种能够检测舱外服使用能力的被动关节机械臂;设计了检测机械臂的结构、电控检测方案;建立了检测机械臂系统的数学模型;分析了该检测系统的标定方法和检测误差.按照检测方便性设计了软件界面,检测数据经处理后采用OpenGL在界面显示.实验表明,该系统的各项精度指标都能满足舱外服的检测要求.
Astronaut service is an astronaut out of space activities (EVA) protection equipment, astronauts wear activities inevitably subject to certain restrictions on its testing is an important indicator of spacesuits evaluation, space operations are also designed to operate the parts. In this paper, the author developed a passive joint manipulator capable of detecting the service ability of the outfit. The structure of the test manipulator, the scheme of electric control testing were designed. The mathematical model of the manipulator system was established. The calibration method of the system was analyzed. And detection error.According to the convenience of testing, the software interface is designed, the test data is processed and displayed on the interface using OpenGL.Experiments show that the accuracy of the system can meet the testing requirements of the service.