Improving the free-floater space robot simulator for intervention missions
Improving the free-floater space robot simulator for intervention missions
复制标题
改进用于干预任务的自由漂浮空间机器人模拟器
DOI：
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复制
发表时间：
2003
期刊：
影响因子：
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通讯作者：
G. Colombo
中科院分区：
文献类型：
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作者：
C. Bettanini;A. Aboudan;A. Francesconi;M. Marchesi;C. Menon;G. Bianchini;G. Colombo
机器人越来越多地应用于危险空间环境和支持舱外活动，这引起了人们对与自由飞行空间机器人的可靠和安全应用有关的问题的关注。作为解决这些问题的一个关键点，自1996年以来，国际空间科学研究中心一直致力于开发和建造自由浮动机器人，用于微重力条件下的实验室测试。自由漂浮机器人架构由两个主要部分组成：漂浮基座，其在平面上自由移动和旋转，以及连接到基座的具有三个自由度的拟人操纵器。二维微重力条件是通过低压空气轴承实现的，低压空气轴承位于机器人下方，并允许机器人漂浮在低粗糙度、高平面度的花岗岩台面上。减少摩擦是如此的有效，
The increasing application of robots in hazardous space environments and in support of extra vehicular activities has drawn attention to problems related with robust and safe application of free flyer space robots. As a key point in addressing these topics CISAS has since 1996 worked on the development and construction of free floating robots to be used in laboratory tests under micro gravity conditions. The free floater robot architecture is composed by two main parts: the floating base, that is free to move and rotate on a plane, and an anthropomorphic manipulator with three degrees of freedom, connected to the base. The two dimensional micro gravity condition is achieved by means of low pressure air bearings, that are located under the robot and allow it to float over a low roughness, high planarity granite table. Friction reduction is so effective that residual disturbing accelerations in the order of 10 -5