Research On Ground Microgravity Compensation Experiment System Based On The Suspension Spring

In recent years, the ground microgravity compensation experiment system is not only used for the simulation test of space robot on the ground, but also is increasingly applied in intelligent assist devices."The plan of International Thermonuclear Experimental Reactor" is one of the world’s largest, the most far-reaching international scientific research cooperation projects. The replacement of the damaged parts inside ITER device which can produce large-scale nuclear fusion is completed by the teleoperation robot. In order to reduce the operation force of the main manipulator, the need for the main manipulator for microgravity compensation should be concerned.This paper proposes a kind of microgravity compensation system based on the suspension spring. The design of the vertical gravity compensation mechanism and the two-dimensional horizontal servo mechanism is created. At the same time the driving mode of the organization is determined. In the vertical gravity compensation system single suspension spring-pull pressure sensor is adopted to compensate gravity actively for the master manipulator. The two-dimensional horizontal servo mechanism compensate displacement of the master manipulator by measuring the angle of the suspension spring. We design an angular measuring device which can be used to measure the angle effectively. Relevant theoretical calculation and ADAMS kinematics simulation are carried out to establish the mathematical relationship of the angle of suspension spring and the angular measuring device.On the hardware platform microgravity compensation experiment system uses the computer as the core and collects sensor data as the feedback through the PCI data acquisition card. On the software platform the program is wrote in the LABVIEW. The parameters of the digital filter are setting to ensure that the filter data are accurate and the response time is short. The related experiment of the system is carried out. The experimental results show that the system has high compensation precision and can realize gravity compensation for the master manipulator.