航天服关节力学测试系统的测量原理与实验分析

目的：测试航天服手臂关节的力学特性。方法：介绍基于随动式测量机器人的航天服关节力学测试系统的测量原理，根据舱内航天服手臂软关节的转动特性建立3自由度手臂的数学模型，并针对这一模型提出航天服运动学逆运算的基于6维空间距离的最佳近似解法，在实际的实验系统平台上针对舱内航天服进行手臂关节力学特性测试实验，并探讨系统的扩展应用价值。结果：通过测试实验和实时3维仿真有效地验证了航天服手臂建模与系统运动学正逆运算的正确性。结论：系统的测量原理和方法正确可行，测量结果真实可靠。

Principles and Experimental Analysis of a Measuring System for Measuring Spacesuit Joint′s Damping Parameters

Objective: To measure the damping parameters of the spacesuit joint. Method: The principles of the passive robot system for measuring spacesuit joint's damping parameters were presented. Basing on its special mechanical structure, a 3 DOF model of the flexible IVA (intra-vehicular activity) spacesuit's sleeve was built. The optimal approximation of inverse calculation based on 6 dimension space interval was described. The damping parameters of an actual IVA spacesuit's sleeve were measured on the actual testbed. Also, the potential application of the measuring system was discussed. Result: The model of spacesuit sleeve and the forward/inverse kinematics were proved by experimental measurements and real time 3D simulation. Conclusion: The principles and the proposed method of the measurement were testified.