PERFORMANCE OF JAPANESE ROBOTIC ARMS OF THE INTERNATIONAL SPACE STATION
PERFORMANCE OF JAPANESE ROBOTIC ARMS OF THE INTERNATIONAL SPACE STATION
复制标题
日本机械臂在国际空间站的性能
DOI：
10.3182/20020721-6-es-1901.00925
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
M. Suzuki
中科院分区：
文献类型：
--
作者：
Y. Wakabayashi;H. Morimoto;N. Satoh;M. Hayashi;Y. Aiko;M. Suzuki
摘要 国际空间站日本实验舱将使用两种类型的日本机械臂。较大的主臂承载安装在暴露区域的有效载荷。小精臂是较小的一个，使用时连接到主臂的尖端，并处理小型在轨有效载荷。被确定为性能恶化因素的原因包括齿轮齿隙、臂共振和视觉测量误差。这些机械臂的合格测试结果表明了其设计的有效性。本文介绍了根据测试结果得出的机械臂的性能。
Abstract Two types of Japanese robot arms will be used for the Japanese Experiment Module of the International Space Station. Main Arm, the larger one, carries payloads installed on the exposed area. Small Fine Arm, the smaller one, is attached to the tip of Main Arm when it is used, and handles small-sized on-orbit payloads. Causes identified as aggravating factor of performance include backlash of gears, resonance of arms, and visual measurement error. The results of qualifying tests of these robotic arms show the validity of their design. This paper presents the performance of the robotic arms derived from the test results.