A Breadboard Model of a MGCD has been designed, manufactured and tested to provide a smoothly and linearly controlled motion to a carriage on guide rails. The disturbances generated during its operation had to be minimized to remain within the micro-g requirements for the Payloads of COLUMBUS. The MGCD consists of the components which in general are typical for any joint/limb of a manipulator or other drive systems. The approach followed was to make a selection of appropriate technologies and try to reduce the disturbances right away at their sources of generation. The test results in the time domain were found to be within the micro-g requirements, however, the target levels were exceeded in the frequency domain. The main source of disturbances was found to be the harmonic reduction gear which also excited different modes of the structure.
Micro-gravity compatible drive - MGCD
Mikrogravitationskompatible Antriebe - MGCD
1993
6 Seiten, 17 Bilder, 1 Tabelle
Conference paper
English
Analyse und Verbesserung der Mikrogravitations-eigenschaften eines Manipulatorarms (MGCD)
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