The invention belongs to the field of space manipulator ground motion testing, and particularly relates to a space manipulator testing air floating platform device which comprises a manipulator suspension system, the manipulator suspension system comprises a suspension rack, a pulley, a suspension rope, a manipulator bearing connecting assembly and a suspension counterweight assembly, the pulley is arranged on the suspension rack, the suspension rope is wound on the pulley, and the suspension counterweight assembly is arranged on the suspension rack. The two ends of the balance weight assembly are connected with the mechanical arm bearing connecting assembly and the suspension balance weight assembly correspondingly, the mechanical arm bearing connecting assembly is used for being connected with the mechanical arm, and the suspension balance weight assembly is used for balancing the weight of the mechanical arm bearing connecting assembly and the weight of the mechanical arm. The gravity compensation device has the gravity compensation capacity in the space manipulator testing process, and is simple in structure and easy to implement. According to the mechanical arm suspension system, the motion range of pitching motion of the mechanical arm is greatly enlarged; the suspension shock absorber improves the shock resistance of the system and improves the stability of the system; the air floatation supporting system counteracts friction force for the whole platform, and environment interference is reduced.

    本发明属于空间机械臂地面运动测试领域,具体涉及一种空间机械臂测试气浮平台装置,包括机械臂悬吊系统,机械臂悬吊系统包括悬吊机架、滑轮、悬吊绳、机械臂轴承连接组件和悬吊配重组件,滑轮设置于悬吊机架上,悬吊绳绕设于滑轮上,其两端分别与机械臂轴承连接组件和悬吊配重组件连接,机械臂轴承连接组件用以与机械臂连接,悬吊配重组件用于平衡机械臂轴承连接组件和机械臂的重量。本发明具有空间机械臂测试时的重力补偿能力,且结构简单,易于实现。本发明的机械臂悬吊系统大大提高了机械臂俯仰动作的活动范围;悬吊减震器提高了系统抗震能力提高系统稳定性;气浮支撑系统为整个平台抵消摩擦力,降低环境干扰。


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    Title :

    Space manipulator test air floating platform device


    Additional title:

    一种空间机械臂测试气浮平台装置


    Contributors:
    ZHANG LI (author) / ZHANG QISHENG (author) / YE BIQING (author) / SHAN XIAOHANG (author) / LI YANBIAO (author)

    Publication date :

    2023-08-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B66C Krane , CRANES



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